Imperial College London
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DrEnricoFranco

Faculty of Engineering, Department of Mechanical Engineering

Lecturer
 
 
 
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Contact

 

e.franco11 Website CV

 
 
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Location

 

414BBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Franco:2018:10.1016/j.mechmachtheory.2018.09.001,
author = {Franco, E and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1016/j.mechmachtheory.2018.09.001},
journal = {Mechanism and Machine Theory},
pages = {539--551},
title = {Robust balancing control of flexible inverted-pendulum systems},
url = {http://dx.doi.org/10.1016/j.mechmachtheory.2018.09.001},
volume = {130},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart.
AU  - Franco,E
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1016/j.mechmachtheory.2018.09.001
EP  - 551
PY  - 2018///
SN  - 0094-114X
SP  - 539
TI  - Robust balancing control of flexible inverted-pendulum systems
T2  - Mechanism and Machine Theory
UR  - http://dx.doi.org/10.1016/j.mechmachtheory.2018.09.001
UR  - http://hdl.handle.net/10044/1/64104
VL  - 130
ER  -
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