Ponencia
Improving the Performance of Orbitally-Stabilizing Controls for the Furuta Pendulum
Autor/es | Vivas Venegas, Carlos
Rodríguez Rubio, Francisco |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2003 |
Fecha de depósito | 2021-02-17 |
Publicado en |
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Resumen | This paper presents an approach to compute suboptimal nonlinear H∞ controls for orbital stabilization of a certain class of underactuated systems. The control objective is to locally asymptotically stabilize the system ... This paper presents an approach to compute suboptimal nonlinear H∞ controls for orbital stabilization of a certain class of underactuated systems. The control objective is to locally asymptotically stabilize the system around a predefined target orbit with a certain degree of L2-Gain disturbance attenuation. Additionally, to solve the Hamilton-Jacobi-Bellman equation (HJBE) arising in the nonlinear H∞ framework, an approximate solution is provided, based on a Galerkin-like approximation scheme. In particular, the methodology is applied to the well-known Furuta Pendulum system and simulation results are shown |
Identificador del proyecto | DPI2001-2424-C02-01 |
Cita | Vivas Venegas, C. y Rodríguez Rubio, F. (2003). Improving the Performance of Orbitally-Stabilizing Controls for the Furuta Pendulum. En IFAC WORKSHOP (81-86), Sevilla (España): Elsevier. |
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