Title :
Swinging up the Furuta pendulum by the speed gradient method
Author :
Acosta, J.A. ; Gordillo, F. ; Aracil, J.
Author_Institution :
Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain
Abstract :
The swing-up problem for the Furuta pendulum is analyzed comparing the results obtained by the conventional Åstrom-Furuta strategy, based on a dimension 2 model, with a new strategy based on a dimension 3 control law. A counterexample where the new law works well, but the old one does not is included. The controller design is based on the Fradkov “Speed Gradient” (SG) method [1]. A comparative analysis is performed showing the advantages and effectiveness of the proposed law.
Keywords :
control system synthesis; gradient methods; nonlinear control systems; pendulums; Åstrom-Furuta strategy; Fradkov SG method; Fradkov speed gradient method; Furuta pendulum; controller design; dimension 2 model; dimension 3 control law; swing-up problem; Angular velocity; Benchmark testing; Control systems; Lyapunov methods; Mathematical model; Orbits; Dissipative and Energy-based Design. Lyapunov Design. Stability Analysis of Non-linear Systems. Non-linear Oscillations an Chaos;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
