Furuta′s Pendulum: A Conservative Nonlinear Model for Theory and Practise
JA Acosta - Mathematical Problems in Engineering, 2010 - Wiley Online Library
Furuta′ s pendulum has been an excellent benchmark for the automatic control community
in the last years, providing, among others, a better understanding of model‐based Nonlinear …
in the last years, providing, among others, a better understanding of model‐based Nonlinear …
[BOOK][B] Motion control of underactuated mechanical systems
J Moreno-Valenzuela, C Aguilar-Avelar - 2018 - Springer
The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …
and motion planning of many types of mechanical systems, such as industrial manipulators …
Swing-up and stabilization control design for an underactuated rotary inverted pendulum system: Theory and experiments
In this paper, the swing-up and stabilization control problems for a rotary inverted pendulum
system are solved via new control schemes, in which the swing-up strategy is designed by …
system are solved via new control schemes, in which the swing-up strategy is designed by …
Speed gradient method and its applications
The survey examines the current state of the speed gradient method, developed in the 1970–
80s for synthesizing control and adaptation algorithms in nonlinear systems, as well as …
80s for synthesizing control and adaptation algorithms in nonlinear systems, as well as …
Total energy sha** control of mechanical systems: simplifying the matching equations via coordinate changes
Total energy sha** is a controller design methodology that achieves (asymptotic)
stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or …
stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or …
Robust control based on adaptive neural network for Rotary inverted pendulum with oscillation compensation
A new stable adaptive neural network (ANN) control scheme for the Furuta pendulum, as a
two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This …
two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This …
Virtual-holonomic-constraints-based design of stable oscillations of Furuta pendulum: Theory and experiments
The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum
attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is …
attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is …
Adaptive control of rotary inverted pendulum system with time-varying uncertainties
YF Chen, AC Huang - Nonlinear Dynamics, 2014 - Springer
In this paper, an adaptive controller is proposed to balance a rotary inverted pendulum with
time-varying uncertainties. The goal of the control is to bring the pendulum close to the …
time-varying uncertainties. The goal of the control is to bring the pendulum close to the …
New feedback linearization-based control for arm trajectory tracking of the furuta pendulum
C Aguilar-Avelar… - IEEE/ASME Transactions …, 2015 - ieeexplore.ieee.org
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 …
Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the …
A composite controller for trajectory tracking applied to the Furuta pendulum
In this paper, a new composite scheme is proposed, where the total control action is
composed of the sum of a feedback-linearization-based controller and an energy-based …
composed of the sum of a feedback-linearization-based controller and an energy-based …