A new swing-up law for the Furuta pendulum

DOI10.1080/0020717031000116506zbMath1047.93027OpenAlexW1985516057MaRDI QIDQ4450434

Francisco Gordillo, Jose Ángel Acosta, Javier Aracil

Publication date: 15 February 2004

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/0020717031000116506

zbMATH Keywords

speed-gradient methodHamiltonian formulationFuruta pendulumswinging-up problem

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05)

Related Items (8)

Stabilization of the Furuta pendulum based on a Lyapunov function ⋮ A remark on controlled Lagrangian approach ⋮ The direct Lyapunov method for the stabilisation of the Furuta pendulum ⋮ Furuta's pendulum: a conservative nonlinear model for theory and practise ⋮ A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach ⋮ Adaptive control of rotary inverted pendulum system with time-varying uncertainties ⋮ A new controller for the inverted pendulum on a cart ⋮ Speed gradient method and its applications

Cites Work

• Swinging up a pendulum by energy control
• Stabilization of the Furuta pendulum around its homoclinic orbit
• A new model for control of systems with friction
• Swinging control of nonlinear oscillations
• Normal forms for underactuated mechanical systems with symmetry

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