gab = constant It can easily be verified that this system satisfies the
simplified matching conditions since gob = y is a con-
stant and the other two conditions are trivially sat,isfied.
517
Following [2],the control law which asymptotically sta-
bilizes the system at the origin in full state space is
given by
U =
PZ
PZ(k -t 1) cos2 91
a-
Y
(2.2) Figure 3.1: The Furuta pendulum.
with udiss
= cy(q2 + p1 cosqlql), c > 0 a constant and
This system does not satisfy the simplified match-
+
ing conditions since gob = 7' a sin2 ql is not constant.
Using a more general form of kinetic shaping, relative
In $4, we will prove local exponential stability for stability can be obtained i.e., the system can be brought
the Furuta pendulum using a control law that augments to the state ( q 1 , d l r q z , q 2 ) = ( O , O , q f , O ) , where @f need
not be zero [3]. As mentioned in the introduction, com-
(2.2). To do this we will consider gyroscopic forces.
bining both the kinetic shaping and potential shaping
Define
within the structured choice of controlled Lagrangians
does not yield full state space stability. Instead, we
look for a stabilizing solution in full state space by first
recasting the Furuta pendulum system it(i a planar pen-
Then, consider a system with equations of motion given dulum plus a gyroscopic force term.
The equations of motion for the Furuta pendulum
with input U = u1 + U ; are
] [ :;] [
law in $3 to transform the equations of motion for the tions transform t o
Fnruta pendulum into the equations of motion for the
planar pendulum system plus a gyroscopic force. The
[
(2
P'cosq1
P'cosqi
7'
+ ]
Ds?qi
idea then is to use the feedback law for the planar pen-
dulum described above to stabilize the transformed Fu-
ruta pendulum system. As will be seen this is not as
+ [ -8' 0 916:
sin 7 ;[ j + [ us,]
= (3.3)
straightforward as it might seem, since a pure energy- where
shaping control law does not necessarily preserve gy-
roscopic forces. The general matching conditions for F, = a s i n q l cosq1q2, Fa = -asinql cosq1614z.
mechanical control systems with gyroscopic forces are
given in [6]. The LHS of equation (3.3) is the same as the LHS of
the equations of motion for the planar pendulum (2.1),
with 7 replaced by 7' and P replaced by p'. Observe
3 F'uruta P e n d u l u m and l k a n s f o r m a t i o n to that F,q1 + FaQz = 0. Therefore, the RHS is a gym
Normal Form scope force term added to the input term ( 0 , ~ : ) ~We
.
now split U ; into a sum of U* and ud. The idea is t o
The Fnruta pendulum consists of a pendulum on choose u2 so that the controlled system derives from a
a cart where the cart is restricted to move on a circle
Lagrangian LZ where
in the horizontal plane as shown in Figure 3.1. The
Lagangian for this system is given by
1 .
L=-aq:+p'cosq1q1q2
2
+ -21 (7'+asin2q1)q2 and the RHS is a gyroscope force term. This can be
done for the Furuta pendulum using the control law for
+D COS 91 (34 the planar pendulum; however, the parameters p and
518
K must be constrained in such a way that equilibrium with c > 0, we get
cannot be made stable. Since this is unacceptable, we
relax the requirement that the RHS be perfectly gy- Ec = Fe&+ c Y ' ( Q z + P I ~ ~ s ~ I @ ~ ) ~
roscopic and use this control law without constraining +
= asinql COSqlq&+I ~ ' ( 4 2+ P I C0Sqlql)2.
the choices of p and K a t the matching stage. We prove
local exponential stability for the Furuta pendulum in Note that Ec is not positive semi-definite as desired
the next section and show in 55 that the region of at- since there exist points arbitrarily close to the origin
traction appears to be considerable. where Ec < 0. However, when < 0, it is necessary
that 91 and q1 have opposite signs, i.e., the pendulum
must be moving towards the upright position when the
4 Stabilization of t h e F u r u t a Pendulum energy is decaying away from the maximum value. See
Denote the LHS of equation (3.3) by Figure 4.1 for plots of the E, = 0 surface.
(ELpp,, ELpp.)= where p p signifis "planar pendu- We show next that the closed-loop system is locally
lum''. Let (ELppc,, ELppc,)= be the Euler-Lagrange exponentially stable by showing asymptotic stability of
equations for the controlled planar pendulum when the the linearization of (4.4) about the origin. To do so we
force terms on the RHS of equation (3.3) are ignored. use Lyapunov's direct method with Lyapunov function
Since we cannot, in this context, obtain gyroscopic defined by the energy E, associated with the linearized
forces for the controlled Lagrangian and guarantee (Lagrangian) system. Note that the energybased a p
stability, we choose to cancel F. in equation (3.3) using proach is much easier than an eigenvalue check.
111 so that
for
BeDy"q2
~ 0 ' s i n q l(aq: +Dcosql) -
212 = 0'2
p"(K+ 1)C0S2q1
a-
y'
- @'Fa cos q1
(4.3)
a - b " ' ( ~ +1)cos2ql
y' Figure 4.1: The surface E, = 0 in ( q l , q i , q z + p l c o s q ~ q ~ )
coordinates.
and B defined as for equation (2.2). When F, = 0 and
udisr= 0, (4.3) is the same as (2.2). The calculation of
u2 is done exactly as in [2]. Proposition 4.1 The system given b y (4.4) is locally
Adding a dissipation term ud to the input a2 mod- ezponentially stabilized b y the choice of ud given b y
ifies equation (4.2) to (4.6).
PmoJ The linearized controlled Lagrangian for the pla-
nar pendulum is
519
Let the corresponding energy be E=.Then, we compute where IMwlis the determinant of the mass matrix of
the whirling pendulum (3.2), lMpl is the determinant of
+P 2 h )
I
1
U = Zasin(ql)cos(q&jlq2 +-
Pcos(q1)
I
(y+asin2(qt))(F, - Dsin(sl))
Figure 5.1: Simulation of Furuta pendulum for initial con-
- _(-,(F~ - Dsin(q1)) - ~ ( 8 +2 u d t dition ( l , Z , l , Z ) .
IMP1
Psin(n1)~:)) } - Osin(q~)Q? (4.12)
520
of energy function as the Lyapunov function was not
so useful with respect to proving a large region of at-
traction. This suggests combining our technique with
other nonlinear control techniques to construct better
control Lyapunov functions.
References
Figure 5.2: Plot of Ec versus time for the initial condition [3] A. M. Bloch, N. E. Leonard, and J. E. Marsden.
Stabilization of the pendulum on a rotor arm by the
(L2,L2).
method of controlled Lagrangians. I n Proc. Int. ConJ.
Robotics and Automation, pages 50Ck505, IEEE, 1999.
[4] A. M. Bloch, N. E. Leonard, and J. E. Marsden.
Controlled Lagrangians and the stabilization of me-
chanical systems I: The first matching theorem. IEEE
Trow. Aut. Cont., 45(12):2253-2270, 2000.
Bb
m
[5] D. E. Chang. Controlled Lagrangian and Hamil-
tonian System. PhD thesis, Caltech, Pasadena, CA,
2002.
[6] D.E. Chang, A. M. Bloch, N. E. Leonard, J. E.
Marsden, and C . Woolsey: The equivalence of COLI-
trolled Lagrangian and cont.rolled Hamiltonian systems.
ESIAM: Control. Optimisation and Calculus OJ Varia-
tions, 2001. To appear.
n IW IS I. Fantoni and R. Lozano. Non-linear Control for
[7]
Tim (scc) Undemctuated Mechanical Systems. Springer-Verlag,
London, 1st edition, 2001.
Figure 5.3: Experiment output 181 R. Olfati-Saber. Fixed point controllers and sta-
bilization of the cart-pole system and the rotating pen-
dulum. In Proc. IEEE CDC,pages 1174-1181, 1999.
6 Final Remarks [9] R. Ortega, M. W. Spong, F. Gcjmez-Estern, and
G. Blankenstein. Stabilization of underactuated me-
In this paper, a control law for the Furuta pendu- chanical systems via interconnection and damping as-
lum is derived using the fact that the Furuta pendu- signment. IEEE Trans. Aut.Contm1. to appear.
lum can be expressed after a feedback transformation
as a planar pendulum plus a gyroscopic force. The pla- [lo] R. Ortega, A. J. van der Schaft, B. Maschke, and
nar pendulum belongs to a class of systems which can G . Escobar. Stabilization of port-controlled Hamilto-
be asymptotically stabilized in full state space using nian systems: Energy-balancing and passivation. Au-
the method of controlled Lagrangians. It is of interest tomatica. To appear.
to explore the possibility of extending this approach [ll] C. Woolsey. Energy Shaping and Dissipation: Un-
to a class of systems that can be brought into normal derwater Vehicle Stabilization Using Internal Rotors.
form, i.e., which can, after a feedback transformation, PhD thesis, Princeton University, Princeton, NJ, Jan-
be made equivalent to a system that satisfies the sim- uary 2001.
plified matching conditions plus a gyroscopic force (or
possibly other forces).
Another direction of interest concerns the choice of
Lyapunov function to prove stability. As was observed
in this application to the Furuta pendulum, our choice
521