Swinging up the Furuta Pendulum and its Stabilization Via Model Predictive Control

摘要

This paper deals with certain options on controlling an inverted rotary pendulum also known as the Furuta pendulum.Controlling an inverted pendulum involves two stages. The first stage is the swing up of the pendulum and the second stageis its balancing in the up-right position. The paper describes two possibilities on swinging up the pendulum. First one is theclassical approach based on comparing the current total (potential and kinetic) energy of the system with the energy in itsstabilized up-right position. The second option uses an exponentiation operation over the pendulum position since the trendof power law function is very convenient for determining the amount of required energy to be delivered to the system. Forthe purposes of balancing the pendulum in the up-right position a predictive controller based on optimal control law withperturbation was proposed, which is an LQ controller with control signal corrections when constraints are exceeded. Theresults are illustrated by real-time experiments on a laboratory rotary inverted pendulum setup.