TY - CHAP
T1 - Composite control of the Furuta pendulum
AU - Moreno-Valenzuela, Javier
AU - Aguilar-Avelar, Carlos
N1 - Publisher Copyright:
© 2018, Springer International Publishing AG.
PY - 2018
Y1 - 2018
N2 - The purpose of this chapter is to introduce a new composite control scheme for the trajectory tracking problem of the Furuta pendulum. The structure of the proposed algorithm is composed of the sum of two control actions: one is derived from the input-output linearization methodology and the other is an energy-based compensation derived from the energy function of the system, which is designed to assure the uniformly ultimate boundedness of the closed-loop trajectories. The design procedure is presented in a constructive form, such that it may be applied to other underactuated mechanical systems.
AB - The purpose of this chapter is to introduce a new composite control scheme for the trajectory tracking problem of the Furuta pendulum. The structure of the proposed algorithm is composed of the sum of two control actions: one is derived from the input-output linearization methodology and the other is an energy-based compensation derived from the energy function of the system, which is designed to assure the uniformly ultimate boundedness of the closed-loop trajectories. The design procedure is presented in a constructive form, such that it may be applied to other underactuated mechanical systems.
UR - http://www.scopus.com/inward/record.url?scp=85024088948&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-58319-8_4
DO - 10.1007/978-3-319-58319-8_4
M3 - Capítulo
AN - SCOPUS:85024088948
T3 - Intelligent Systems, Control and Automation: Science and Engineering
SP - 51
EP - 68
BT - Intelligent Systems, Control and Automation
PB - Springer Netherlands
ER -