Mixed VSS swining-up/balancing stabilisation of a rotating pendulum

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2 Citations (Scopus)

Abstract

This paper describes the development of a mixed VSS swinging-up/ balancing controller for the stabilisation of an underactuated mechanical system, the rotating pendulum. The control design is achieved through two stages. The first deals with the swinging-up of the pendulum and the second deals with the balancing of the pendulum about its equilibrium unstable position. The swing-up controller is based on a non-collocated partial feedback linearisation of the underactuated system with a particular choice of the additional control, for which the design is made using the VSS approach. On the other hand, the balancing control is based on the linearised model of the pendulum about its equilibrium unstable position. Simulation results made on a 2-DOF rotating pendulum are given to illustrate the proposed approach.

Original languageEnglish
Pages (from-to)257-262
Number of pages6
JournalInternational Journal of Modelling, Identification and Control
Volume1
Issue number4
DOIs
Publication statusPublished - 2006

Fingerprint

Pendulum
Pendulums
Balancing
Rotating
Stabilization
Unstable
Underactuated Mechanical Systems
Underactuated System
Controller
Controllers
Feedback Linearization
Feedback linearization
Control Design
Partial
Simulation

Keywords

  • Rotating pendulum
  • Sliding mode
  • Stabilisation
  • Underactuated systems

ASJC Scopus subject areas

  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics

Cite this

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