Abstract

IBARGUEN, Francisco Javier et al. Hamiltonian dynamics and sliding-mode control of Furuta's Pendulum. Ing. Desarro. [online]. 2009, n.26, pp.65-82. ISSN 0122-3461.

In this paper we made the analysis of Hamiltonian dynamics for a type of nonlinear underactuated system. The mathematical model of the Furuta's pendulum is calculated. A nonlinear control strategy by sliding modes and potential shaping is applied to the Furuta's pendulum plant designed and built as experimental model for the Nonlinear Systems and Perception investigation line of the Electronic Engineering Program of the Quindío University.

Keywords : Sliding modes; hamiltonian systems; Furuta's pendullum; potential energy shaping.