Discontinuous observer-based convex control of the Furuta pendulum

https://doi.org/10.58571/CNCA.AMCA.2022.028

Resumen: Discontinuous observer-based convex control of an underactuated rotatory system, better known as the Furuta pendulum, is the subject of this report. It is shown that a slight generalization of the traditional discontinuous observer design allows applying it to the referred plant. Since the observer gains are obtained via linear matrix inequalities and convex rewriting of nonlinear terms, convex control comes at hand as a better fit to drive the system to the upright position. Simulation and real-time results are presented which prove the effectiveness of the proposal.

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Felipe Beltrán, David Vázquez, Daniel Quintana, Miguel Bernal & Victor Estrada-Manzo. Memorias del Congreso Nacional de Control Automático,  pp. 115-120, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.028

Palabras clave

Control de Sistemas No Lineales; Control Robusto; Control Discontinuo (modos deslizantes)

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