Geodesic
A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach
Kybernetika, Tome 55 (2019) no. 2, pp. 402-421

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This paper considers the problem of swinging up the Furuta pendulum and proposes a new smooth nonlinear swing up controller based on the concept of energy. This new controller results from the Total Energy Control System (TECS) approach in conjunction with a linearizing feedback controller. The new controller commands to the desired reference the total energy rate of the Furuta pendulum; thus, the Furuta pendulum oscillates and reaches a neighborhood of its unstable configuration while the rotation of its base remains bounded. Once the Furuta pendulum configuration is in the neighborhood of its unstable equilibrium point, a linear controller stabilizes the unstable configuration of the Furuta pendulum. Real-time experiments are included to support the theoretical developments.
DOI : 10.14736/kyb-2019-2-0402
Classification : 93C10, 93C15
Keywords: total energy control system; Furuta pendulum; swinging up control; real-time experiments 
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     title = {A swinging up controller for the {Furuta} pendulum based on the {Total} {Energy} {Control} {System} approach},
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Rodríguez-Cortés, H. A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach. Kybernetika, Tome 55 (2019) no. 2, pp. 402-421. doi: 10.14736/kyb-2019-2-0402

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