On the dynamics of the furuta pendulum
Benjamin S. Cazzolato,Zebb Prime +1 more
TLDR
In this article, the full dynamics of the Furuta pendulum were derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation, which converge to the more commonly presented expressions.Abstract:
The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws. Despite the popularity of the platform, there are very few papers which employ the correct dynamics and only one that derives the full system dynamics. In this paper, the full dynamics of the Furuta pendulum are derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation. Approximations are made to the full dynamics which converge to the more commonly presented expressions. The systemdynamics are then linearised using a Jacobian. To illustrate the influence the commonly neglected inertia terms have on the system dynamics, a brief example is offered.read more
Citations
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Journal ArticleDOI
Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum
TL;DR: An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example, where fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point are triggered.
Journal ArticleDOI
Current development on using Rotary Inverted Pendulum as a benchmark for testing linear and nonlinear control algorithms
Mukhtar Fatihu Hamza,Mukhtar Fatihu Hamza,Hwa Jen Yap,Imtiaz Ahmed Choudhury,Abdulbasid Ismail Isa,Aminu Yahaya Zimit,Aminu Yahaya Zimit,Tufan Kumbasar +7 more
TL;DR: Different kinds of nonlinear dynamic models of the RIP together with the developed linear models in the literature have been analyzed and most of the proposed controllers applied on RIP are found to be model dependent since they are mainly based on integral and/or invariant motion.
Journal ArticleDOI
A Review on the Control of Second Order Underactuated Mechanical Systems
TL;DR: This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies made so far to control these systems.
Journal ArticleDOI
Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum
TL;DR: A novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system, is introduced, thereby proving the uniform ultimate boundedness of the error trajectories.
Journal ArticleDOI
New Feedback Linearization-Based Control for Arm Trajectory Tracking of the Furuta Pendulum
TL;DR: In this article, a trajectory tracking controller applied to the Furuta pendulum is presented, where the arm tracks a desired time-varying trajectory, while the pendulum remains regulated at the upward position.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Dissertation
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
TL;DR: This main contribution is to find explicit change of coordinates and control that transform several classes of underactuated systems into cascade nonlinear systems with structural properties that are convenient for control design purposes.
Book
Non-linear Control for Underactuated Mechanical Systems
Isabelle Fantoni,Rogelio Lozano +1 more
TL;DR: In this article, the application of modern control theory to some important underactuated mechanical systems is discussed, such as the inverted pendulum, the pendubot, the Furuta pendulum and the inertia wheel pendulum.
Book
Modeling and simulation for automatic control
Olav Egeland,Jan Tommy Gravdahl +1 more
TL;DR: This book is to supply the control engineer with a sufficient modeling background to design controllers for a wide range of processes, and deliberately break the tradition evident in many books in the control literature where the emphasis is on having a unified formulation specific to automatic control.
Journal ArticleDOI
Swing-up Control of Inverted Pendulum Using Pseudo-State Feedback:
TL;DR: In this article, a robust swing-up control using a subspace projected from the whole state space is proposed, and the control input is determined depending on the partitioning of the state as a bang-bang type control.