Fixed point transformation-based adaptive control of the Furuta Pendulum

Bertalan Csanadi, J. Tar, Janos F. Bito

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper Furuta's Pendulum is considered as a paradigm of strongly nonlinear, dynamically singular under-actuated physical systems, for the control of which a novel, Fixed Point Transformation-based control is proposed and numerically investigated via simulations. It is shown that the suggested method is able to precisely control this system within some limitations in the nominal trajectory that are related to the dynamic singularities of this pendulum. It is shown that for achieving precise control it is satisfactory to adaptively tune only one of the controller's parameters. This tuning can be carried out by the application of a model-independent filter.

Original languageEnglish
Title of host publicationCINTI 2016 - 17th IEEE International Symposium on Computational Intelligence and Informatics: Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages49-54
Number of pages6
ISBN (Electronic)9781509039098
DOIs
Publication statusPublished - Feb 7 2017
Event17th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2016 - Budapest, Hungary
Duration: Nov 17 2016Nov 19 2016

Other

Other17th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2016
CountryHungary
CityBudapest
Period11/17/1611/19/16

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Keywords

  • Adaptive Control
  • Fixed Point Transformations
  • Furuta Pendulum
  • Model-independent Filter
  • Parameter Tuning
  • Robust Fixed Point Transformation

ASJC Scopus subject areas

  • Control and Optimization
  • Artificial Intelligence
  • Information Systems

Cite this

Csanadi, B., Tar, J., & Bito, J. F. (2017). Fixed point transformation-based adaptive control of the Furuta Pendulum. In CINTI 2016 - 17th IEEE International Symposium on Computational Intelligence and Informatics: Proceedings (pp. 49-54). [7846378] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CINTI.2016.7846378