Alejandro Bellati, Nicolas Perez Blengio, Fabian Cancela, P. Monzón, Nicolás Pérez
{"title":"古田摆的建模与控制","authors":"Alejandro Bellati, Nicolas Perez Blengio, Fabian Cancela, P. Monzón, Nicolás Pérez","doi":"10.1109/urucon53396.2021.9647336","DOIUrl":null,"url":null,"abstract":"The Furuta inverted pendulum is a benchmark for nonlinear underactuated control system. For our control lab, we developed an Arduino-based Furuta pendulum that can be integrated in real-time with the Simulink environment to design and test different controllers. This brief article presents some details of the model process of the pendulum and the development of a supervisory control scheme, that includes swing-up the pendulum from the down-right position and control it at the up-right position.","PeriodicalId":337257,"journal":{"name":"2021 IEEE URUCON","volume":"103 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling and control of a Furuta pendulum\",\"authors\":\"Alejandro Bellati, Nicolas Perez Blengio, Fabian Cancela, P. Monzón, Nicolás Pérez\",\"doi\":\"10.1109/urucon53396.2021.9647336\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Furuta inverted pendulum is a benchmark for nonlinear underactuated control system. For our control lab, we developed an Arduino-based Furuta pendulum that can be integrated in real-time with the Simulink environment to design and test different controllers. This brief article presents some details of the model process of the pendulum and the development of a supervisory control scheme, that includes swing-up the pendulum from the down-right position and control it at the up-right position.\",\"PeriodicalId\":337257,\"journal\":{\"name\":\"2021 IEEE URUCON\",\"volume\":\"103 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-11-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE URUCON\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/urucon53396.2021.9647336\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE URUCON","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/urucon53396.2021.9647336","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The Furuta inverted pendulum is a benchmark for nonlinear underactuated control system. For our control lab, we developed an Arduino-based Furuta pendulum that can be integrated in real-time with the Simulink environment to design and test different controllers. This brief article presents some details of the model process of the pendulum and the development of a supervisory control scheme, that includes swing-up the pendulum from the down-right position and control it at the up-right position.
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