Referenced Items are not available for this document.
We consider the problem of creating oscillations of the Furuta pendulum around the open-loop unstable equilibrium. We start with a control transformation shaping the energy of the passive link. Then, a dissipativity-based controller is designed to create oscillations, neglecting the possibility of unbounded motion of the directly actuated link. After that, an auxiliary linear feedback action is added to the control law stabilizing a desired level of the reshaped energy. Parameters of the controller are tuned to approximately keep the originally created oscillations but ensuring bounded motion of both links. The analysis is valid only for oscillations of sufficiently high frequency and is based on higher order averaging technique. The performance of the designed controller is verified using numerical simulations as well as experimentally.
Published in:
Control Systems Technology, IEEE Transactions on
(Volume:17
,
Issue:
4
)
Date of Publication: July 2009
- Page(s):
- 853 - 858
- ISSN :
- 1063-6536
- INSPEC Accession Number:
- 10721228
- Digital Object Identifier :
- 10.1109/TCST.2008.2005734
- Product Type:
- Journals & Magazines
- Date of Publication :
- 21 April 2009
- Date of Current Version :
- 23 June 2009
- Issue Date :
- July 2009
- Sponsored by :
- IEEE Control Systems Society
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