On parameter identification of the Furuta pendulum
نویسندگان
چکیده
منابع مشابه
On the dynamics of the Furuta pendulum
The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only one that de...
متن کاملNonlinear Control Strategies for the Furuta Pendulum
The problem of swinging the Furuta pendulum up is usually solved by a hybrid controller where the global problem is broken down into two steps. First, an injection of energy leads the pendulum near the upright position. Then the pendulum is stabilized at this position. In this paper, different control strategies for both problems are analyzed both by simulation and using an actual laboratory pe...
متن کاملRobust Predictive Control of the Furuta Pendulum
In this paper, a Linear Parameter Varying (LPV) model of the Furuta pendulum is derived. Based on this model, a balancing controller is designed using robust predictive control techniques. Invariant set theory is used to accurately characterise the region of the state space in which the balancing controller is effective. An energy-based control law is used to swing up the pendulum. Invariant se...
متن کاملInfoMax Bayesian Learning of the Furuta Pendulum
We have studied the InfoMax (D-optimality) learning for the two-link Furuta pendulum. We compared InfoMax and random learning methods. The InfoMax learning method won by a large margin, it visited a larger domain and provided better approximation during the same time interval. The advantages and the limitations of the InfoMax solution are treated.
متن کاملTechnical Report: On the dynamics of the Furuta pendulum
Abstract— The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only o...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2012
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2012.04.167