Nonlinear Optimal Internal Forces Control and Application to Swing-Up and Stabilization of Pendulum

[+] Author and Article Information
Satoshi Suzuki

The 21st Century COE Project Office, Tokyo Denki University (TDU), 2-2 Kanda Nishiki-cho, Chiyodaku, 101-84-57 Japan

Katsuhisa Furuta, Akihiko Sugiki, Shoshiro Hatakeyama

School of Science and Engineering, TDU, Ishizaka, Hatoyama, Saitama 350-0394 Japan

J. Dyn. Sys., Meas., Control 126(3), 568-573 (Dec 03, 2004) (6 pages) doi:10.1115/1.1789972 History: Received April 26, 2002; Online December 03, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
Model of one link Furuta pendulum
Grahic Jump Location
One-link Furuta pendulum
Grahic Jump Location
Shape of weighting functions
Grahic Jump Location
Experimental result (IFC: internal forces control, NSDC: nonlinear state-dependent control)
Grahic Jump Location
Transition of weighting functions (IFC: internal forces control, NSDC: nonlinear state-dependent control)



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