State-dependent sliding-sector VS-control and application to swing-up control of pendulum

Author

Suzuki, S. ; Furuta, K. ; Pan, Y.

Author_Institution

Frontier R&D Center, Tokyo Denki Univ., Saitama, Japan

Volume

1

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

251

Abstract

A global nonlinear stabilization method by combining the state-dependent optimal regulator and the Sliding-Sector Variable Structure Control(SSVSC) is proposed. The former technique is used to modify an original nonlinear problem into a linear system treatment and to obtain a Riccati solution needed for computation of a sliding-sector of the SSVSC. The SSVSC is adopted to design robust control law that can suppress the inputs to the system. The proposed method is demonstrated efficiently by simulations and experiments of swing-up/stabilization control of the 1-link Furuta pendulum.

Keywords

Riccati equations; control system synthesis; linear systems; nonlinear control systems; optimal control; pendulums; robust control; variable structure systems; 1 link Furuta pendulum; Riccati solution; control system synthesis; linear system; nonlinear control systems; nonlinear stabilization method; robust control design; sliding sector variable structure control; state dependent optimal regulator; swing up/stabilization control; Linear systems; Mechanical variables control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Optimal control; Research and development; Riccati equations; Robust control; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272569

Filename

1272569