Control of the Furuta pendulum based on a linear differential flatness aproach

Carlos Aguilar-Ibáñez; Hebertt Sira-Ramírez

Control of the Furuta pendulum based on a linear differential flatness aproach

Carlos Aguilar-Ibáñez, Hebertt Sira-Ramírez

Centro de Investigación en Computación (CIC)

Research output: Contribution to journal › Conference article › peer-review

10 Scopus citations

Abstract

In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.

Original language	English
Pages (from-to)	1954-1959
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	3
State	Published - 2002
Event	2002 American Control Conference - Anchorage, AK, United States Duration: 8 May 2002 → 10 May 2002

Keywords

Flatness
Furuta pendulum system
Generalized proportional derivative control
High-gain control

Cite this

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abstract = "In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.",

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N2 - In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.

AB - In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectoring problems; a direct pole placement approach, a hierarchical high-gain approach and Generalized Proportional Integral (GPI) approach, based only on measured inputs and outputs.

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KW - Furuta pendulum system

KW - Generalized proportional derivative control

KW - High-gain control

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AN - SCOPUS:0036343712

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JF - Proceedings of the American Control Conference

T2 - 2002 American Control Conference

Y2 - 8 May 2002 through 10 May 2002

ER -

Control of the Furuta pendulum based on a linear differential flatness aproach

Abstract

Keywords

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