Modeling and control of a Furuta pendulum

被引：1

作者：

Bellati, Alejandro ^{[1
]}

Blengio, Nicolas Perez ^{[1
]}

Cancela, Fabian ^{[1
]}

Monzon, Pablo ^{[1
]}

Perez, Nicolas ^{[1
]}

机构：

[1] UDELAR, Fac Ingn, Montevideo, Uruguay

来源：

2021 IEEE URUCON | 2021年

关键词：

nonlinear control systems; Furuta pendulum; energy-based swing-up control;

D O I：

10.1109/URUCON53396.2021.9647336

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

The Furuta inverted pendulum is a benchmark for nonlinear underactuated control system. For our control lab, we developed an Arduino-based Furuta pendulum that can be integrated in real-time with the Simulink environment to design and test different controllers. This brief article presents some details of the model process of the pendulum and the development of a supervisory control scheme, that includes swing-up the pendulum from the down-right position and control it at the up-right position.

引用

页码：334 / 338

页数：5

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