A swinging up controller for the Furuta pendulum based on the total energy control system approach.

DOI10.14736/KYB-2019-2-0402MaRDI QIDQ5206516zbMATH OpenOpenAlexFDO

Authors H. Rodríguez-Cortés

Publication date 18 December 2019

Published in Kybernetika (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/10338.dmlcz/147844

zbMATH Keywords

real-time experimentsFuruta pendulumtotal energy control systemswinging up control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)

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Cites work

• scientific article; zbMATH DE number 4133575 (Why is no real title available?)
• A new swing-up law for the Furuta pendulum
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
• Adding integrations, saturated controls, and stabilization for feedforward systems
• Almost global stabilization of the inverted pendulum via continuous state feedback
• Normal forms for underactuated mechanical systems with symmetry
• Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
• Port-Hamiltonian systems: an introductory survey
• Stabilization of the inverted pendulum around its homoclinic orbit
• Swing-up control of a triple pendulum on a cart with experimental validation
• Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation
• Swinging up a pendulum by energy control

Cited in

(11)

• Swing-stabilization up for a rotatory-elastic pendulum via nonlinear sub-optimal control
• A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum
• A family of smooth controllers for swinging up a pendulum
• VSS-version of energy-based control for swinging up a pendulum
• A comparison study of nonlinear control techniques for the RTAC system
• Swing-up control strategies for a reaction wheel pendulum
• A swing-up of the acrobot based on a simple pendulum strategy
• Swinging up the spherical pendulum via stabilization of its first integrals.
• A linear differential flatness approach to controlling the Furuta pendulum
• A new swing-up law for the Furuta pendulum
• Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method

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