Safe Manual Control of the Furuta Pendulum

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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

Detaljer

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Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

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Nyckelord

Originalspråkengelska
Titel på värdpublikationProceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor890-895
ISBN (tryckt)0-7803-6733-2
StatusPublished - 2001
PublikationskategoriForskning
Peer review utfördJa
Evenemang2001 IEEE International Conference on Control Applications - Mexico City, Mexiko
Varaktighet: 2001 sep 7 → …

Konferens

Konferens2001 IEEE International Conference on Control Applications
Förkortad titelCCA'01
LandMexiko
OrtMexico City
Period2001/09/07 → …