On parameter identification of the Furuta pendulum

被引：16
作者：
Garcia-Alarcon, Octavio [1 ]
Puga-Guzman, Sergio [1 ]
Moreno-Valenzuela, Javier [1 ]
机构：
[1] Inst Politecn Nacl, CITEDI, Tijuana 22510, BC, Mexico
来源：
INTERNATIONAL MEETING OF ELECTRICAL ENGINEERING RESEARCH 2012 | 2012年 / 35卷
关键词：
Filtered dynamic model; Furuta pendulum; Least-squares; Parameter identification; Real-time experiment; ROBOT;
D O I：
10.1016/j.proeng.2012.04.167
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The Furuta pendulum is a well-known underactuated mechanical system used by many control researchers to test new control techniques. In this paper, the parameter identification of a Furuta pendulum prototype designed at IPN-CITEDI is presented. The procedure used to achieve the parameter identification of the experimental system consisted in using the filtered dynamic model and the standard least-squares algorithm. Comparisons between numerical simulation and experiment show a manner of validating the accuracy of the obtained parameter estimation. (C) 2012 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of the Organizing Committee of the ENIINVIE-2012.
引用
收藏
页码：77 / 84
页数：8
相关论文
共 50 条
  • [21] Fixed Point Transformation-Based Adaptive Control of the Furuta Pendulum
    Csanadi, Bertalan
    Tar, Jozsef K.
    Bito, Janos F.
    2016 17TH IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND INFORMATICS (CINTI 2016), 2016, : 49 - 54
  • [22] Nonlinear control with friction compensation to swing-up a Furuta pendulum
    Antonio-Cruz, Mayra
    Hernandez-Guzman, Victor Manuel
    Merlo-Zapata, Carlos Alejandro
    Marquez-Sanchez, Celso
    ISA TRANSACTIONS, 2023, 139 : 713 - 723
  • [23] Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium
    Freidovich, Leonid B.
    Shiriaev, Anton S.
    Manchester, Ian R.
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 171 - 176
  • [24] Performance Analysis of Stable Adaptive NARMA Controller Scheme for Furuta Pendulum
    Bulucu, Parvin
    Soydemir, Mehmet Ugur
    Sahin, Sava
    Kocaoglu, Aykut
    Guzelis, Cuneyt
    2019 23RD INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2019, : 350 - 354
  • [25] Swing up and Arm Trajectory Tracking of the Furuta Pendulum with Sliding Mode Control
    Manesh, Mohammad Javad Karamin
    Goltapeh, Akbar Nikzad
    2017 5TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2017), 2017, : 346 - 351
  • [26] 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
  • [27] Nonlinear stabilization control of Furuta pendulum only using angle position measurements
    Zhao, Lin
    Gong, Shuli
    Zhang, Ancai
    Cong, Lanmei
    JOURNAL OF MATHEMATICS AND COMPUTER SCIENCE-JMCS, 2016, 16 (03): : 452 - 460
  • [28] 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):
  • [29] Kalman Filter and H∞ Filter Based Linear Quadratic Regulator for Furuta Pendulum
    Arulmozhi, N.
    Victorie, T. Aruldoss Albert
    COMPUTER SYSTEMS SCIENCE AND ENGINEERING, 2022, 43 (02): : 605 - 623
  • [30] SWINGING UP THE FURUTA PENDULUM AND ITS STABILIZATION VIA MODEL PREDICTIVE CONTROL
    Seman, Pavol
    Rohal'-Ilkiv, Boris
    Juhas, Martin
    Salaj, Michal
    JOURNAL OF ELECTRICAL ENGINEERING-ELEKTROTECHNICKY CASOPIS, 2013, 64 (03): : 152 - 158
12345