An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators

Table 2

Definitions of system variables and parameters for Furuta pendulum system.

𝐼0: inertia of the arm (𝐼0= 0.001569 kg·m^2)
𝐿0: total length of the arm (𝐿0= 0.16 m)
𝑚1: mass of the arm (𝑚1= 0.056 kg)
𝑚2: mass of the pendulum (𝑚1= 0.022 kg)
𝑙1: distance to the center of gravity of the pendulum (𝑙1= 0.08 m)
𝐽1: inertia of the pendulum around its center of gravity (𝐽1=0.0001785 kg·m^2)