Inverted pendulum systems: rotary and arm-driven - a mechatronic system design case study

Awtar, Shorya; King, NM; Allen, Tim; Bang, I.; Hagan, Martin T.; Skidmore, D.; Craig, Kevin

doi:10.1016/s0957-4158(01)00075-7

Cited by 42 publications

(24 citation statements)

References 1 publication

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“…which is very similar to the expressions derived by Atwar et al [12,13], once the different reference frame for Arm 2 is accounted for. The only obvious difference is that in (11) and (12) (14) in terms of α is also incorrect with a minus sign instead of a multiplication sign.…”

Section: Equations Of Motionsupporting

confidence: 77%

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On the Dynamics of the Furuta Pendulum

Cazzolato

Prime

2011

Journal of Control Science and Engineering

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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 nonlinear control laws. Despite the popularity of the platform, there are very few papers which employ the correct dynamics and only one that derives the full system dynamics. In this paper, the full dynamics of the Furuta pendulum are derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation. Approximations are made to the full dynamics which converge to the more commonly presented expressions. The system dynamics are then linearised using a Jacobian. To illustrate the influence the commonly neglected inertia terms have on the system dynamics, a brief example is offered.

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Section: Equations Of Motionsupporting

confidence: 77%

“…Of the dozens of publications surveyed for this paper, only a single conference paper [12] and journal paper [13] were found to include all three principal inertial terms of the pendulum. Both papers used a Lagrangian formulation, but each contained minor errors (presumably typographical).…”

Section: Introductionmentioning

confidence: 99%

On the Dynamics of the Furuta Pendulum

Cazzolato

Prime

2011

Journal of Control Science and Engineering

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“…La estabilización se logra con un control LQ (Linear Quadratic); resulta ser un control robusto, incluso se implementó para un péndulo doble, pero los resultados no fueron reportados. En el año 2002 S. Awtar, N. King, T. Allen and K. Craig [11], diseñan un péndulo invertido rotacional simple o de Furuta y la estabilización del mismo se logra utilizando una estrategia de control por realimentación de estados. Para el caso del swing up o levantamiento se utiliza un control basado en energías.…”

Section: Control De Péndulos Invertidosunclassified

Control De Un Péndulo De Furuta. Una Revisión Del Estado Del Arte.

García¹,

Buitrago²,

Ramírez³

2015

Sci. tech

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“…The inverted pendulum under the terms of rotary pendulum or furuta pendulum [2,4] is a 3D device, Fig. 1, which means its movement is not planar as in the case of a cart-pendulum, but spatial (three-dimensional).…”

Section: Introductionmentioning

confidence: 99%

Swinging up the Furuta Pendulum and its Stabilization Via Model Predictive Control

Seman¹,

Rohal’-Ilkiv²,

́as³

et al. 2013

Journal of Electrical Engineering

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This paper deals with certain options on controlling an inverted rotary pendulum also known as the Furuta pendulum. Controlling an inverted pendulum involves two stages. The first stage is the swing up of the pendulum and the second stage is its balancing in the up-right position. The paper describes two possibilities on swinging up the pendulum. First one is the classical approach based on comparing the current total (potential and kinetic) energy of the system with the energy in its stabilized up-right position. The second option uses an exponentiation operation over the pendulum position since the trend of power law function is very convenient for determining the amount of required energy to be delivered to the system. For the purposes of balancing the pendulum in the up-right position a predictive controller based on optimal control law with perturbation was proposed, which is an LQ controller with control signal corrections when constraints are exceeded. The results are illustrated by real-time experiments on a laboratory rotary inverted pendulum setup.

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Inverted pendulum systems: rotary and arm-driven - a mechatronic system design case study

Cited by 42 publications

References 1 publication

On the Dynamics of the Furuta Pendulum

On the Dynamics of the Furuta Pendulum

Control De Un Péndulo De Furuta. Una Revisión Del Estado Del Arte.

Swinging up the Furuta Pendulum and its Stabilization Via Model Predictive Control

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