Partial-energy-shaping control for orbital stabilization of high frequency oscillations of the Furuta pendulum
2007 (English)In: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, 1432-1437 p.Conference paper (Refereed)
We consider the problem of creating oscillations of the Furuta pendulum around the open-loop unstable equilibrium. Following a recently proposed technique, we start with shaping the energy of the unactuated link. An dissipativity-based controller is designed to create oscillations, neglecting 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. Performance of the designed controller is verified using numerical simulations and experiments.
Place, publisher, year, edition, pages
2007. 1432-1437 p.
, IEEE CONFERENCE ON DECISION AND CONTROL - PROCEEDINGS, ISSN 0191-2216
IdentifiersURN: urn:nbn:se:umu:diva-88133ISI: 000255181700239ISBN: 978-1-4244-1497-0OAI: oai:DiVA.org:umu-88133DiVA: diva2:713671
46th IEEE Conference on Decision and Control, DEC 12-14, 2007, New Orleans, LA