A composite controller for trajectory tracking applied to the Furuta pendulum

ISA Transactions
Carlos Aguilar-Avelar, Javier Moreno-Valenzuela

Abstract

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation.

References

Aug 8, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Chin Wang TaoShun-Feng Su
Feb 1, 2014·ISA Transactions·Manuel Olivares, Pedro Albertos

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Citations

Jul 20, 2016·ISA Transactions·Xianqing Wu, Xiongxiong He

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