Safe Manual Control of the Furuta Pendulum
(2001) 2001 IEEE International Conference on Control Applications 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:
https://lup.lub.lu.se/record/537849
- author
- Åkesson, Johan LU and Åström, Karl Johan LU
- organization
- publishing date
- 2001
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- linearisation techniques, cascade control, nonlinear systems, stability, pendulums
- host publication
- 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.
- conference name
- 2001 IEEE International Conference on Control Applications
- conference location
- Mexico City, Mexico
- conference dates
- 2001-09-07
- 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
- 2016-04-04 09:53:09
- date last changed
- 2022-01-29 19:26:38
@inproceedings{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}}, booktitle = {{Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).}}, isbn = {{0-7803-6733-2}}, keywords = {{linearisation techniques; cascade control; nonlinear systems; stability; pendulums}}, language = {{eng}}, pages = {{890--895}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Safe Manual Control of the Furuta Pendulum}}, url = {{http://dx.doi.org/10.1109/CCA.2001.973982}}, doi = {{10.1109/CCA.2001.973982}}, year = {{2001}}, }