A Novel Robust Control of Uncertain Furuta Pendulum Based on a General Lyapunov Function

초록

A novel robust approach for the obedience control of Furuta pendulum with uncertainty is proposed. The uncertainty considered in this paper is (possibly fast) time-varying and bounded, which may exist in any stage of the pendulum subsystem. By the Lagrangian formulation of the nonlinear pendulum system, a robust control, based on a general Lyapunov function, is designed to render the Furuta pendulum a position obedience. As a consequence of the Lyapunov approach, the control design is not restricted to linearize the pendulum system. The system performance under the proposed control is guaranteed as uniform boundedness and uniform ultimate boundedness. The salient features of this new control are demonstrated both analytically and numerically. The experiment is conducted in the Furuta pendulum system to prove the validity and effectiveness of the control design.

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