Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5004437 | ISA Transactions | 2015 | 9 Pages |
Author-Highlightsâ¢New control algorithm composed of feedback-linearization and an energy-based compensation.â¢The new scheme is applied for trajectory tracking of the Furuta pendulum.â¢Uniformly ultimately boundedness of the closed-loop system trajectories is guaranteed.â¢Real-time experiments and numerical simulations confirm the theoretical results.â¢The proposed algorithm shows better performance.
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.