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Safe Manual Control of the Furuta Pendulum

Författare:
Publiceringsår: 2001
Språk: Engelska
Sidor: 890-895
Publikation/Tidskrift/Serie: Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).
Dokumenttyp: Konferensbidrag
Förlag: IEEE

Sammanfattning

This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed

Disputation

Nyckelord

  • Technology and Engineering
  • linearisation techniques
  • cascade control
  • nonlinear systems
  • stability
  • pendulums

Övriga

Published
Yes
  • ISBN: 0-7803-6733-2

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