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Safe Manual Control of the Furuta Pendulum

Åkesson, Johan LU and Åström, Karl Johan LU (2001) In Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01). p.890-895
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
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
linearisation techniques, cascade control, nonlinear systems, stability, pendulums
in
Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).
pages
890 - 895
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • Scopus:0035692615
ISBN
0-7803-6733-2
DOI
10.1109/CCA.2001.973982
language
English
LU publication?
yes
id
16f33f42-9f06-4dd6-b3e6-216b9e809892 (old id 537849)
date added to LUP
2007-09-12 10:36:58
date last changed
2016-12-04 04:41:46
@misc{16f33f42-9f06-4dd6-b3e6-216b9e809892,
  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},
  author       = {Åkesson, Johan and Åström, Karl Johan},
  isbn         = {0-7803-6733-2},
  keyword      = {linearisation techniques,cascade control,nonlinear systems,stability,pendulums},
  language     = {eng},
  pages        = {890--895},
  publisher    = {ARRAY(0x98c7cf0)},
  series       = {Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).},
  title        = {Safe Manual Control of the Furuta Pendulum},
  url          = {http://dx.doi.org/10.1109/CCA.2001.973982},
  year         = {2001},
}