Safe Manual Control of the Furuta Pendulum

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering

Keywords

  • linearisation techniques, cascade control, nonlinear systems, stability, pendulums
Original languageEnglish
Title of host publicationProceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages890-895
ISBN (Print)0-7803-6733-2
Publication statusPublished - 2001
Publication categoryResearch
Peer-reviewedYes
Event2001 IEEE International Conference on Control Applications - Mexico City, Mexico
Duration: 2001 Sep 7 → …

Conference

Conference2001 IEEE International Conference on Control Applications
Abbreviated titleCCA'01
CountryMexico
CityMexico City
Period2001/09/07 → …