{"title":"H∞ Control of the Furuta Pendulum with Backlash and Analysis of the Effect of Bounded-Disturbance","authors":"Muneue Suwa, K. Hirata, Yukinori Nakamura","doi":"10.1109/ICM54990.2023.10101944","DOIUrl":null,"url":null,"abstract":"In this paper, we consider the $\\mathcal{H}_{\\infty}$ stabilization problem of the Furuta pendulum with backlash in the drive train and analyze the effect of fictitious bounded-disturbance approximately representing the nonlinearity. Based on the reachable set analysis of the disturbance with an $\\mathcal{L}_{2}$ constraint, a subset of the reachable region with $\\mathcal{L}_{\\infty}$ constraint is computed. By estimating its volume in the state space, the performance against the backlash nonlinearity is evaluated. The behaviour of the closed-loop system is verified through numerical simulations of the time response.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICM54990.2023.10101944","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
In this paper, we consider the $\mathcal{H}_{\infty}$ stabilization problem of the Furuta pendulum with backlash in the drive train and analyze the effect of fictitious bounded-disturbance approximately representing the nonlinearity. Based on the reachable set analysis of the disturbance with an $\mathcal{L}_{2}$ constraint, a subset of the reachable region with $\mathcal{L}_{\infty}$ constraint is computed. By estimating its volume in the state space, the performance against the backlash nonlinearity is evaluated. The behaviour of the closed-loop system is verified through numerical simulations of the time response.
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