Nonlinear stabilization control of Furuta pendulum only using angle position measurements
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Authors
Lin Zhao
- School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong 276000, China.
Shuli Gong
- School of Science, Linyi University, Linyi, Shandong 276000, China.
Ancai Zhang
- School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong 276000, China.
Lanmei Cong
- School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong 276000, China.
Abstract
In this paper, we discuss the stabilization control problem for a nonlinear mechanical system
called Furuta pendulum. A new stabilizing control method that only uses the measurements of angle
position is developed. This method has three successive steps. First, we present the dynamic equation
of Furuta pendulum and change it into an affine nonlinear system by appropriately choosing state
variables. Second, we linearize the nonlinear system around the origin and consider the nonlinear
higher order term to be system's fictitious disturbance. After that, an idea of equivalent input
disturbance is used to design the stabilizing controller for the nonlinear system. The effectiveness of
our proposed control strategy is illustrated via a numerical example.
Share and Cite
ISRP Style
Lin Zhao, Shuli Gong, Ancai Zhang, Lanmei Cong, Nonlinear stabilization control of Furuta pendulum only using angle position measurements, Journal of Mathematics and Computer Science, 16 (2016), no. 3, 452-460
AMA Style
Zhao Lin, Gong Shuli, Zhang Ancai, Cong Lanmei, Nonlinear stabilization control of Furuta pendulum only using angle position measurements. J Math Comput SCI-JM. (2016); 16(3):452-460
Chicago/Turabian Style
Zhao, Lin, Gong, Shuli, Zhang, Ancai, Cong, Lanmei. "Nonlinear stabilization control of Furuta pendulum only using angle position measurements." Journal of Mathematics and Computer Science, 16, no. 3 (2016): 452-460
Keywords
- Nonlinear analysis and control
- Furuta pendulum
- underactuated mechanical system
- equivalent input disturbance.
MSC
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