TY - JOUR
N2 - Swing-up control of a single pendulum from the pendant to the upright position is ﬁrstly surveyed. The control laws are comparatively studied based on swing-up time from a given initial state to the upright position. The State Dependent Riccati Equation is found eﬀective for designing the swing-up control law under saturating control input. The control law is extended to a linear combination of sine function of the angle and the angular velocity, and a variable structure control with a sliding mode given by the linear combination. Making the swing-up time correspond to a colour, which is similar to the Fractal analysis, colour maps of the swing-up time for given control parameters and initial conditions yield interesting Fractal-like ﬁgures.
L1 - http://sd.czasopisma.pan.pl/Content/111820/PDF/(52-3)153.pdf
L2 - http://sd.czasopisma.pan.pl/Content/111820
PY - 2004
IS - No 3
EP - 163
KW - pendulum control
KW - state dependent Riccati equation
KW - nonlinear control
KW - artiﬁcial gravity
KW - fractal
A1 - Furuta, K.
A1 - Iwase, M.
VL - vol. 52
DA - 2004
T1 - Swing-up time analysis of pendulum
SP - 153
UR - http://sd.czasopisma.pan.pl/dlibra/publication/edition/111820
T2 - Bulletin of the Polish Academy of Sciences Technical Sciences
ER -