Switching control of Furuta pendulum system with aggressive swing-up

A switching control scheme is presented for an underactuated Furuta pendulum system, which consists of an actuated arm and an unactuated pendulum. The control task is to bring the pendulum to the upper unstable equilibrium position with converging the arm displacement to zero. It is separated into two parts, aggressive swing-up the pole from the under plane into the uppe plane and stabilizing the pendulum to its upper unstable equilibrium point with regulating the arm displacement. Based on partial feedback linearization, the aggressive swing-up controller is developed by using saturated state feedback technique, and the stabilization controller is followed by linear all state feedback controller. Finally, the simulation results illustrate the effectiveness of the approach.