期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 17, 期 4, 页码 853-858出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2008.2005734
关键词
Furuta pendulum; higher order averaging; nonlinear systems; orbital stabilization; oscillation control; periodic motion planning; underactuated systems
资金
- Swedish Research Council [2005-4182]
- MCyT-FEDER [DP12006-07338]
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据