Safe Manual Control of the Furuta Pendulum
Publikation/Tidskrift/Serie: Proceedings of the 2001 IEEE International Conference on Control Applications, 2001. (CCA '01).
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
- Control Engineering
- linearisation techniques
- cascade control
- nonlinear systems
- ISBN: 0-7803-6733-2