State-dependent sliding-sector VS-control and application to swing-up control of pendulum

Proceedings of the IEEE Conference on Decision and Control

Volumn 1, Issue , 2003, Pages 251-256

  Suzuki, S ^a   Furuta, K ^a   Pan, Y ^b  

^a TOKYO DENKI UNIVERSITY   (Japan)

^b NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

Lazy control; Pendulum; Sliding sector; State dependent; Swing up; Variable structure

Indexed keywords

HAMILTONIANS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; OPTIMAL CONTROL SYSTEMS; PENDULUMS; PROBLEM SOLVING; RICCATI EQUATIONS; ROBUSTNESS (CONTROL SYSTEMS);

LAZY CONTROL; SLIDING-SECTOR; STATE-DEPENDENT; SWING-UP; VARIABLE STRUCTURE;

SLIDING MODE CONTROL;

EID: 1542269329     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. Spong, M.W., "Partial feedback linearization of underactuated mechanical systems," IROS'94, Munich, Germany, pp. 314-321, 1994.
2. Isidori, A., "Nonlinear Control Systems," 2nd Edition, Springer-Verlag, 1989.
3. Cloutier, J.R. and Cockburn, J.C., "The State-Dependent Nonlinear Regulator with State Constraints," Proc. of ACC, Arlington, VA., pp.390-395, 2001.
4. Wan, E.A. and Bogdanov, A.A., "Model predictive neural control with applications to a 6 DoF helicopter model," Proc. of ACC, Arlington, USA, pp. 488-493, 2001.
5. Palumbo, A.A. and Jackson, A.A., "Integrated missile guidance and control: A state dependent Riccati differential equation approach," Proc. of the 1999 IEEE ICCA, Hawai, USA, pp. 243-248, 1999.
6. Furuta, K., "Super mechano-systems: fusion of control and mechanism," plenary, 15th IFAC World Congress, Barcelona, Spain, pp. 35-44, 2002.
7. Suzuki, S., Furuta, K., Sugiki, A. and Hatakeyama, S., "Nonlinear optimal internal forces control and application to swing-up and stabilization of pendulum," Trans. of the ASME: J. of dyn. sys., mes. and ctrl, submitted, 2003.
8. Furuta, K. and Pan, Y., "Variable structure control with sliding sector," Journal of Automatica, vol. 36, No. 4, pp. 211-228, 2000.
9. Pan, Y., Furuta, K., Suzuki, S. and Hatakeyama, S., "Design of variable structure controller - from sliding mode to sliding sector-," 39th IEEE CDC, Sydney, Australia, pp. 1685-1690, 2000.
10. Suzuki, S., Pan, Y. and Furuta, K., "Sliding sector design and application to Furuta pendulum," Asian Journal of control, accepted, 2003.
11. Anderson, B.D.O. and Moore, J.B., "Optimal Control - linear quadratic methods -," Prentice Hall, 1990.
12. Huang, Y. and Lu, W.M., "Nonlinear optimal control: alternatives to Hamilton-Jacobi equation," Proc. of the 35th CDC, Kobe, Japan, pp. 3942-3947, 1996.
13. Åstrom, K.J. and Furuta, K., "Swinging up a pendulum by energy control," Automatica, vol. 36, No. 2, pp. 287-296, 2000.
14. Levant, A., "Robust exact differentiation via sliding mode technique," Automatica, vol. 34, No. 3 pp. 379-384, 1998.
15. Kobayashi, S., Suzuki, S. and Furuta, K., "Adaptive VS differentiator," Proc. of the 7th IEEE Int. Workshop on Variable Structure Systems, Sarajevo, Bosnia and Herzegovina, pp. 35-45, 2002.