论文信息 - A new swing-up law for the Furuta pendulum

A new swing-up law for the Furuta pendulum

In this paper the swing-up problem for the Furuta pendulum is solved applying Fradkov's speed-gradient (SG) method to a dimension 4 model of the system. The new law is compared with the conventional Åström-Furuta strategy, based on a dimension 2 model. A comparative analysis, including simulations and experiments, whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown, is included.

[1] Carlos Canudas de Wit,et al. A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[2] Alexander L. Fradkov. Swinging control of nonlinear oscillations , 1996 .

[3] Naomi Ehrich Leonard,et al. Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4] B. R. Andrievskii,et al. CONTROL OF NONLINEAR VIBRATIONS OF MECHANICAL SYSTEMS VIA THE METHOD OF VELOCITY GRADIENT , 1996 .

[5] Alexander L. Fradkov,et al. Introduction to Control of Oscillations and Chaos , 1998 .

[6] Katsuhisa Furuta,et al. Swinging up a pendulum by energy control , 1996, Autom..

[7] Alexander L. Fradkov,et al. Control of oscillations in Hamiltonian systems , 1997, 1997 European Control Conference (ECC).

[8] R. Lozano,et al. Stabilization of the Furuta pendulum around its homoclinic orbit , 2002 .

[9] K. Åström,et al. A New Strategy for Swinging Up an Inverted Pendulum , 1993 .

[10] Karl Johan Åström,et al. Global Bifurcations in the Futura Pendulum , 1998 .

[11] Javier Aracil,et al. BIFURCATION ANALYSIS OF TIME-DELAY CONTROL SYSTEMS WITH SATURATION , 1999 .

[12] R. Olfati-Saber. Cascade normal forms for underactuated mechanical systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).