Nonlinear control of swing-up and stabilization of an inverted pendulum

2002 ◽  
Author(s):  
A. Ohsumi ◽  
T. Izumikawa
Keyword(s):  
Nonlinear Control ◽  
Inverted Pendulum

scholarly journals Nonlinear Control of Inverted Pendulum Based on Potential Function

1999 ◽  
Vol 35 (1) ◽  
pp. 52-58 ◽  
Author(s):  
Satoko YAMAKAWA ◽  
Hisao KATO ◽  
Norimasa SHINODA ◽  
Yasuyuki FUNAHASHI
Keyword(s):  
Nonlinear Control ◽  
Potential Function ◽  
Inverted Pendulum

Nonlinear Control of an Inverted Pendulum on a Cart by a Single Control Law

2013 ◽  
Vol 464 ◽  
pp. 279-284 ◽  
Author(s):  
Aydın Özbey ◽  
Erol Uzal ◽  
Hüseyin Yildiz
Keyword(s):  
Nonlinear Control ◽  
Global Stability ◽  
Mechanical System ◽  
Feedback Linearization ◽  
Numerical Experiments ◽  
Inverted Pendulum ◽  
Vertical Position ◽  
Control Law ◽  
Underactuated Mechanical System ◽  
Control Scheme

Stabilization at the top vertical position of an inverted pendulum on a cart, while bringing the cart to a desired position, by applying a force to the cart is considered. This is an underactuated mechanical system for which the main nonlinear control scheme, feedback linearization, fails. A single control law producing the force on the cart using cart velocity, and position and velocity of the pendulum is developed and shown, by numerical experiments, to asymptotically stabilize the pendulum at the top position while bringing the cart to its origin, although no attemp is made for a proof of global stability.

scholarly journals On the Dynamics of the Furuta Pendulum

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Benjamin Seth Cazzolato ◽  
Zebb Prime
Keyword(s):  
Nonlinear Control ◽  
System Dynamics ◽  
Inverted Pendulum ◽  
Lagrangian Formulation ◽  
Full System ◽  
Control Laws ◽  
Control Community

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 system dynamics 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.

Sign in / Sign up

Export Citation Format

Share Document