TY - JOUR
T1 - New feedback linearization-based control for arm trajectory tracking of the furuta pendulum
AU - Aguilar-Avelar, Carlos
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
© 1996-2012 IEEE.
PY - 2016/4
Y1 - 2016/4
N2 - The purpose of this paper is to introduce a new trajectory tracking controller applied to the Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the pendulum remains regulated at the upward position. This controller is derived from the input-output feedback linearization technique. The rigorous analysis of the internal dynamics is presented, showing that the tracking error and the regulation error trajectories are uniformly ultimately bounded. Experimental results show the validity of the introduced theory. Additionally, a detailed experimental study is also presented, where a PID controller and an output tracking controller are compared with respect to the new algorithm, which presents the best performance.
AB - The purpose of this paper is to introduce a new trajectory tracking controller applied to the Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the pendulum remains regulated at the upward position. This controller is derived from the input-output feedback linearization technique. The rigorous analysis of the internal dynamics is presented, showing that the tracking error and the regulation error trajectories are uniformly ultimately bounded. Experimental results show the validity of the introduced theory. Additionally, a detailed experimental study is also presented, where a PID controller and an output tracking controller are compared with respect to the new algorithm, which presents the best performance.
KW - Feedback linearization
KW - Furuta pendulum
KW - Internal dynamics
KW - Real-time experiments
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=84963850937&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2015.2485942
DO - 10.1109/TMECH.2015.2485942
M3 - Artículo
SN - 1083-4435
VL - 21
SP - 638
EP - 648
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 2
M1 - 7286825
ER -