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
收藏
页码：87 / 92
页数：6
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