Title :
Dynamic Switching Control for the Swing-up and Stabilizing Control of the Furuta Pendulum
Author :
Ding, Haishan ; Li, Yinpeng ; Mao, Jianqin ; Wei, Kehui ; Yang, Li
Author_Institution :
The Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut.
Abstract :
This paper presents the design and simulation for the swing-up and stabilizing control of the Furuta pendulum, which is widely used to illustrate ideas emerging in the field of nonlinear control. In this paper, a dynamic switching controller is designed. The designed controller switches to the corresponding control manner in the specified region. For sing-up control, it is according to the sign of angular displacement and angular velocity of the pendulum that a proportional controller is designed. For stabilizing control, a model-based fuzzy controller is designed by utilizing the design technique of parallel distributed compensation (PDC). The solution of numerical simulation shows the efficiency of the presented method
Keywords :
control system synthesis; nonlinear control systems; numerical analysis; pendulums; proportional control; stability; Furuta pendulum; angular displacement; angular velocity; dynamic switching controller design; model-based fuzzy controller; nonlinear control; numerical simulation; parallel distributed compensation; proportional controller design; sing-up control; stabilizing control; Aerodynamics; Angular velocity; Angular velocity control; Design engineering; Displacement control; Fuzzy control; Mechanical systems; Open loop systems; Proportional control; Testing;
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
DOI :
10.1109/ICIEA.2006.257145
