Modeling, parameterization, and state feedback control of a Furuta Pendulum

被引：0

作者：

Castillo Gonzalez, Victor David ^{[1
]}

Molina Santiago, Jose Francisco ^{[1
]}

Lopez Estrada, Francisco Ronay ^{[1
]}

Gomez-Penate, Samuel ^{[1
]}

机构：

[1] Tecnol Nacl Mexico, TURIX Diag & Control Grp, Tuxtla Gutierrez, Mexico

来源：

2023 XXV ROBOTICS MEXICAN CONGRESS, COMROB | 2023年

关键词：

Furuta pendulum; state feedback controller; Lyapunov function;

D O I：

10.1109/COMROB60035.2023.10349793

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article presents a Furuta pendulum as a test bed to experimentally validate a state feedback control with input constraints, which is designed with basis on the quadratic Lyapunov function. The mathematical model of the Furuta pendulum is derived using the Euler-Lagrange formulation. Unknown parameters are estimated using data obtained from open-loop experiments. The system is linearized for controller design, and Linear Matrix Inequalities (LMIs) are developed to compute the gains, considering an input voltage constraint of up to 12 V.

引用

页码：87 / 92

页数：6

共 50 条

[1] Modeling and control of a Furuta pendulum
Bellati, Alejandro
Blengio, Nicolas Perez
Cancela, Fabian
Monzon, Pablo
Perez, Nicolas
2021 IEEE URUCON, 2021, : 334 - 338
[2] Analysis of controllers by state feedback, optimal control and diffuse logic, for a pendulum of Furuta
Ortiz, Juan P.
Reinoso, Manuel J.
INGENIUS-REVISTA DE CIENCIA Y TECNOLOGIA, 2013, (09): : 15 - 22
[3] Predictive Control of a Furuta Pendulum
Duarte Madrid, Juan Libardo
Gonzalez Querubin, E. A.
Ospina-Henao, P. A.
2017 IEEE 3RD COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL (CCAC), 2017,
[4] Modeling and Construction of a Furuta Pendulum Prototype
Antonio-Cruz, M.
Silva-Ortigoza, R.
Merlo-Zapata, C. A.
Villarreal-Cervantes, M. G.
Munoz-Carrillo, D.
Hernandez-Guzman, V. M.
2014 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE), 2014, : 98 - 103
[5] Global Control for the Furuta Pendulum Based on Partial Feedback Linearization and Stabilization of the Zero Dynamics
Garcia-Chavez, G.
Munoz-Panduro, E.
2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2017, : 334 - 339
[6] New Feedback Linearization-Based Control for Arm Trajectory Tracking of the Furuta Pendulum
Aguilar-Avelar, Carlos
Moreno-Valenzuela, Javier
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2016, 21 (02) : 638 - 648
[7] Memory Output-Feedback Integral Sliding Mode Control for Furuta Pendulum Systems
Xu, Jing
Niu, Yugang
Lim, Cheng-Chew
Shi, Peng
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2020, 67 (06) : 2042 - 2052
[8] Linear State Feedback Regulation of a Furuta Pendulum: Design Based on Differential Flatness and Root Locus
Hernandez-Guzman, Victor Manuel
Antonio-Cruz, Mayra
Silva-Ortigoza, Ramon
IEEE ACCESS, 2016, 4 : 8721 - 8736
[9] A Novel Robust Control of Uncertain Furuta Pendulum Based on a General Lyapunov Function
Zhang, Xinrong
Zhao, Ruiying
Ma, Jie
Lee, Chul-Hee
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (11):
[10] On parameter identification of the Furuta pendulum
Garcia-Alarcon, Octavio
Puga-Guzman, Sergio
Moreno-Valenzuela, Javier
INTERNATIONAL MEETING OF ELECTRICAL ENGINEERING RESEARCH 2012, 2012, 35 : 77 - 84

← 1 2 3 4 5 →