Abstract
Solving the orbital stabilization of a class of underactuated systems near its open-loop unstable equilibrium point is a challenging task but useful in repetitive tasks. This paper addresses the control problem of an inverted cart–pendulum's motion driven by a two-relay controller. This controller is tuned to set the desired amplitude and frequency using the locus of the perturbed relay system, which is a frequency-domain method. We solved the periodic motion of the pendulum occurring in its open-loop unstable equilibrium point. The experimental results showed that the proposed two-relay controller forced the pendulum into a periodic motion around the upright position.
Original language | English |
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Pages (from-to) | 306-315 |
Number of pages | 10 |
Journal | ISA Transactions |
Volume | 121 |
DOIs | |
State | Published - Feb 2022 |
Keywords
- Motion control
- Orbital stabilization
- Self-excited oscillation
- Two-relay controller
- Underactuated systems