Safe Manual Control of the Furuta Pendulum

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

Standard

Safe Manual Control of the Furuta Pendulum. / Åkesson, Johan; Åström, Karl Johan.

Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc., 2001. s. 890-895.

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

Harvard

Åkesson, J & Åström, KJ 2001, Safe Manual Control of the Furuta Pendulum. i Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc., s. 890-895, 2001 IEEE International Conference on Control Applications, Mexico City, Mexiko, 2001/09/07. https://doi.org/10.1109/CCA.2001.973982

APA

Åkesson, J., & Åström, K. J. (2001). Safe Manual Control of the Furuta Pendulum. I Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01). (s. 890-895). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2001.973982

CBE

Åkesson J, Åström KJ. 2001. Safe Manual Control of the Furuta Pendulum. I Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc. s. 890-895. https://doi.org/10.1109/CCA.2001.973982

MLA

Åkesson, Johan och Karl Johan Åström "Safe Manual Control of the Furuta Pendulum". Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc. 2001, 890-895. https://doi.org/10.1109/CCA.2001.973982

Vancouver

Åkesson J, Åström KJ. Safe Manual Control of the Furuta Pendulum. I Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc. 2001. s. 890-895 https://doi.org/10.1109/CCA.2001.973982

Author

Åkesson, Johan ; Åström, Karl Johan. / Safe Manual Control of the Furuta Pendulum. Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).. IEEE - Institute of Electrical and Electronics Engineers Inc., 2001. s. 890-895

RIS

TY - GEN

T1 - Safe Manual Control of the Furuta Pendulum

AU - Åkesson, Johan

AU - Åström, Karl Johan

PY - 2001

Y1 - 2001

N2 - 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

AB - 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

KW - linearisation techniques

KW - cascade control

KW - nonlinear systems

KW - stability

KW - pendulums

U2 - 10.1109/CCA.2001.973982

DO - 10.1109/CCA.2001.973982

M3 - Paper in conference proceeding

SN - 0-7803-6733-2

SP - 890

EP - 895

BT - Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2001 IEEE International Conference on Control Applications

Y2 - 7 September 2001

ER -