TY - JOUR
T1 - A composite controller for trajectory tracking applied to the Furuta pendulum
AU - Aguilar-Avelar, Carlos
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
© 2015 ISA.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Furuta pendulum
KW - Nonlinear control
KW - Real-time control
KW - Trajectory tracking
KW - Underactuated systems
UR - http://www.scopus.com/inward/record.url?scp=84959854813&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2015.02.009
DO - 10.1016/j.isatra.2015.02.009
M3 - Artículo
C2 - 25792518
SN - 0019-0578
VL - 57
SP - 286
EP - 294
JO - ISA Transactions
JF - ISA Transactions
ER -