On the Dynamics of the Furuta Pendulum
The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws. Despite the popularity...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/528341 |
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| _version_ | 1832553400533778432 |
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| author | Benjamin Seth Cazzolato Zebb Prime |
| author_facet | Benjamin Seth Cazzolato Zebb Prime |
| author_sort | Benjamin Seth Cazzolato |
| collection | DOAJ |
| description | The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws. Despite the popularity of the platform, there are very few papers which employ the correct dynamics and only one that derives the full system dynamics. In this paper, the full dynamics of the Furuta pendulum are derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation. Approximations are made to the full dynamics which converge to the more commonly presented expressions. The system dynamics are then linearised using a Jacobian. To illustrate the influence the commonly neglected inertia terms have on the system dynamics, a brief example is offered. |
| format | Article |
| id | doaj-art-67177af86e8843b0bb1d10786841ec54 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-67177af86e8843b0bb1d10786841ec542025-02-03T05:53:59ZengWileyJournal of Control Science and Engineering1687-52491687-52572011-01-01201110.1155/2011/528341528341On the Dynamics of the Furuta PendulumBenjamin Seth Cazzolato0Zebb Prime1School of Mechanical Engineering, University of Adelaide, Adelaide, SA 5005, AustraliaSchool of Mechanical Engineering, University of Adelaide, Adelaide, SA 5005, AustraliaThe Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of nonlinear control laws. Despite the popularity of the platform, there are very few papers which employ the correct dynamics and only one that derives the full system dynamics. In this paper, the full dynamics of the Furuta pendulum are derived using two methods: a Lagrangian formulation and an iterative Newton-Euler formulation. Approximations are made to the full dynamics which converge to the more commonly presented expressions. The system dynamics are then linearised using a Jacobian. To illustrate the influence the commonly neglected inertia terms have on the system dynamics, a brief example is offered.http://dx.doi.org/10.1155/2011/528341 |
| spellingShingle | Benjamin Seth Cazzolato Zebb Prime On the Dynamics of the Furuta Pendulum Journal of Control Science and Engineering |
| title | On the Dynamics of the Furuta Pendulum |
| title_full | On the Dynamics of the Furuta Pendulum |
| title_fullStr | On the Dynamics of the Furuta Pendulum |
| title_full_unstemmed | On the Dynamics of the Furuta Pendulum |
| title_short | On the Dynamics of the Furuta Pendulum |
| title_sort | on the dynamics of the furuta pendulum |
| url | http://dx.doi.org/10.1155/2011/528341 |
| work_keys_str_mv | AT benjaminsethcazzolato onthedynamicsofthefurutapendulum AT zebbprime onthedynamicsofthefurutapendulum |