Paper Info
Title
Swinging up and stabilization control of double Furuta pendulums by safe manual control
Abstract
In this paper, we propose a control method to swing up and stabilize a double Furuta pendulums (DFP).The DFP is a rotational type inverted pendulum system that has a base-link and two pendulums of different length at the both ends of the base-link. The proposed method consists of three controllers for the DFP, i.e., a swinging up controller for a long pendulum, a controller to keep a long pendulum at the upright position and to swing up a short pendulum simultaneously, and a stabilization controller for both pendulums at the upright position. Since the second controller has two objectives, we use safe manual control[3] proposed by Å ström and Å kesson. This paper proposes a novel application of the safe manual control. Swinging up and stabilization of the DFP was successfully achieved by appropriately switching three controllers. The effectiveness of the proposed method was verified by simulation and experiment.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354118
IROS
Keywords
DocType
Citations 
nonlinear control systems,pendulums,stability,double Furuta pendulums,rotational type inverted pendulum system,safe manual control,stabilization control,swinging up controller
Conference
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Keigo Noguchi100.34
Masaki Izutsu272.68
Norihiro Kamamichi38613.96
Tetsuo Shiotsuki400.34
Jun Ishikawa5106.60
Katsuhisa Furuta616776.43