论文信息 - A New SG Law for Swinging the Furuta Pendulum Up

A New SG Law for Swinging the Furuta Pendulum Up

Abstract In this paper the swing-up problem for the Furuta pendulum is analyzed by comparing the results obtained by the conventional Astrom-Furuta strategy, based on a dimension 2 model, with a new strategy based on a dimension 3 control law using the symmetry of the configuration space of the system. The controller design is based on Fradkov's speed-gradient (SG) method (Andrievskii et al., 1996). A comparative analysis whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown is included.

José Ángel Acosta | Francisco Gordillo | Javier Aracil

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