Self-Tuning Control for Rotation Type Inverted Pendulum Using Two Kinds of Adaptive Controllers

Hirata, Hiroshi; Haga, K.; Anabuki, Masatoshi; Ouchi, Shigeto; Ratiroch-Anant, P.

doi:10.1109/ramech.2006.252626

Cited by 6 publications

(2 citation statements)

References 3 publications

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“…The simplified expression is also similar to that derived by Baba et al [11] (after accounting for the different reference frame), with the exception of the sign of the term m 2 L 1 l 2 sin(θ 2 )θ 2 2 which is opposite (and incorrect). The simplified derivations of [9,10] differ because of an erroneous 1/2 term in the offdiagonal elements of the mass matrix. It should be noted that the above differential equation differs slightly with that derived by almost all others including Furuta et al, as well as the texts by Fantoni and Lozano [7] and by Egeland and Gravdahl [8], because of the full inertia tensor employed here.…”

Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

“…A few authors [2,4,5,[9][10][11] have considered slender symmetric pendulums where the moments of inertia for two of the principal axes are equal and the remaining moment of inertia is zero. 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.…”

Section: Introductionmentioning

confidence: 99%

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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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