Furuta's inverted pendulum
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This paper presents a back-stepping technique to control this system balancing at a vertical upright position-the unstable equilibrium point. Lyapunov-based back-stepping is proposed for a rotary inverted pendulum in this research.
9p vidoctorstrange 06-05-2023 3 1 Download
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This paper presents a direction for creating a cheap RIP. Thence, authors apply LQR, a balancing control algorithm, and Furuta, a classical swing up the controller, on this model. Both controllers are designed based on a mathematical model of a real system.
9p vidoctorstrange 06-05-2023 7 4 Download
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In this work a hybrid architecture is proposed to control the non-linear model of Furuta's inverted pendulum, in the flatness output space, achieving a tracking of a desired trajectory. To estimate the behavior of the plane outputs, the methodology of integrating reconstructors was used, framed in a control law proposed in the concept of sliding modes.
10p cleopatrahuynh 01-06-2020 16 3 Download