TY - GEN
T1 - A feedback linearization controller for trajectory tracking of the Furuta pendulum
AU - Aguilar-Avelar, Carlos
AU - Moreno-Valenzuela, Javier
PY - 2014
Y1 - 2014
N2 - A Furuta pendulum is a two degrees-of-freedom mechanism consisting of an arm rotating in the horizontal plane and a pendulum rotating in the vertical plane. The pendulum is attached to the arm tip. The complexity in the control of this system relies on that only the arm is actuated. The problem addressed in this paper consists in the design of a controller such that the difference between the desired joint position and the actual one is uniformly ultimately bounded. In particular, the desired arm position is a time varying signal and the desired pendulum position is zero. Roughly speaking, this has the physical meaning that the arm should be moving while the pendulum should be kept at the upward position. To satisfy that control goal, in this document a new controller based on the feedback linearization technique is introduced. The new scheme has been experimentally compared with respect to a known algorithm.
AB - A Furuta pendulum is a two degrees-of-freedom mechanism consisting of an arm rotating in the horizontal plane and a pendulum rotating in the vertical plane. The pendulum is attached to the arm tip. The complexity in the control of this system relies on that only the arm is actuated. The problem addressed in this paper consists in the design of a controller such that the difference between the desired joint position and the actual one is uniformly ultimately bounded. In particular, the desired arm position is a time varying signal and the desired pendulum position is zero. Roughly speaking, this has the physical meaning that the arm should be moving while the pendulum should be kept at the upward position. To satisfy that control goal, in this document a new controller based on the feedback linearization technique is introduced. The new scheme has been experimentally compared with respect to a known algorithm.
KW - Feedback linearization
KW - Mechanical systems/robotics
KW - Stability of nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=84905707005&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6858724
DO - 10.1109/ACC.2014.6858724
M3 - Contribución a la conferencia
AN - SCOPUS:84905707005
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 4543
EP - 4548
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -