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A composite controller for trajectory tracking applied to the Furuta pendulum.

Carlos Aguilar-Avelar1, Javier Moreno-Valenzuela1

  • 1Instituto Politécnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C. 22510, Mexico.

ISA Transactions
|March 21, 2015
PubMed
Summary
This summary is machine-generated.

A novel composite control strategy improves rotary inverted pendulum performance. This energy-based compensation combined with feedback linearization ensures accurate trajectory tracking and stable regulation for underactuated systems.

Keywords:
Furuta pendulumNonlinear controlReal-time controlTrajectory trackingUnderactuated systems

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • The rotary inverted pendulum (Furuta pendulum) is a complex underactuated mechanical system.
  • Controlling such systems presents challenges due to their inherent dynamics and limited actuation.

Purpose of the Study:

  • To develop and validate a new composite control scheme for the rotary inverted pendulum.
  • To achieve precise trajectory tracking of the actuated joint while stabilizing the unactuated link.

Main Methods:

  • A composite control action combining feedback linearization and energy-based compensation was designed.
  • The closed-loop system stability was analyzed for uniformly ultimately boundedness of error trajectories.
  • The controller design procedure was presented constructively for broader application.

Main Results:

  • Numerical simulations and real-time experiments confirmed the controller's practical viability.
  • The proposed composite controller demonstrated superior performance compared to a previously reported tracking controller.
  • Effective tracking of the desired periodic trajectory and stable regulation of the unactuated link were achieved.

Conclusions:

  • The proposed composite control scheme offers a robust and effective solution for controlling underactuated mechanical systems like the Furuta pendulum.
  • The method's constructive design facilitates its adaptation to other similar systems.
  • Experimental validation underscores the practical applicability and enhanced performance of this control strategy.