Title :
Analysis of safe manual control by using Furuta pendulum
Author :
Iwase, M. ; Åstöm, K.J. ; Furuta, K. ; Åkesson, J.
Author_Institution :
Dept. of Computers and Systems Engineering, Tokyo Denki University, Hatoyama, Hiki-gun, Saitama, 350-0394, JAPAN
Abstract :
This paper focuses on the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum. The task is to control the position of the pendulum arm manually while maintaining the pendulum in the upright position. The analysis of regions for safe maneuvers is important to realize the desired control system.
Keywords :
Aerospace control; Aircraft; Automatic control; Control systems; Educational technology; Feedback; Human factors; Hydraulic actuators; Mechatronics; Stability;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776708
