Safe manual control of the Furuta pendulum
Safe manual control of the Furuta pendulum
复制标题
Furuta 摆锤的安全手动控制
DOI：
10.1109/cca.2001.973982
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
K. Åstrom
中科院分区：
文献类型：
--
作者：
J. Åkesson;K. Åstrom
本文研究了受控制信号饱和影响的不稳定系统的人工控制问题。我们特别考虑古田摆，其问题是在稳定倒立摆的同时手动控制臂的方向。本文对该问题进行了分析，并提出了相应的控制策略。该控制策略已在实际古田摆上实现。讨论了实现的各个方面以及实验结果。
This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed.