Partial-energy-shaping control for orbital stabilization of high-frequency oscillations of the furuta pendulum
2009 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 17, no 4, 853-858 p.Article in journal (Refereed) Published
We consider the problem of creating oscillations of the Furuta pendulum around the open-loop unstable equilibrium. We start with a control transformation shaping the energy of the passive link. Then, a dissipativity-based controller is designed to create oscillations, neglecting the possibility of unbounded motion of the directly actuated link. After that, an auxiliary linear feedback action is added to the control law stabilizing a desired level of the reshaped energy. Parameters of the controller are tuned to approximately keep the originally created oscillations but ensuring bounded motion of both links. The analysis is valid only for oscillations of sufficiently high frequency and is based on higher order averaging technique. The performance of the designed controller is verified using numerical simulations as well as experimentally.
Place, publisher, year, edition, pages
2009. Vol. 17, no 4, 853-858 p.
Furuta pendulum, higher order averaging, nonlinear systems, orbital stabilization, oscillation control, periodic motion planning, underactuated systems
IdentifiersURN: urn:nbn:se:umu:diva-26262DOI: 10.1109/TCST.2008.2005734OAI: oai:DiVA.org:umu-26262DiVA: diva2:241259