TY - GEN
T1 - Stabilization Control of Rotary Base Inverted Pendulum by Combination of Lyapunov-base controller and Linear PD controller
AU - Villasenor-Rios, Cesar Alejandro
AU - Gutierrez-Frias, Octavio
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper a control scheme for rotary base inverted pendulum is developed in order to stabilize system. The mathematical model is obtained by Euler-Lagrange equations and some considerations are taken. The control scheme is divided into three steps: first, a linear control law for angle's base is proposed for tracking trajectory problem. Then, the desired trajectory in angle position is used as artificial control input and some auxiliary controllers are developed in order to express the dynamics as a pendulum on a cart system. The last step consist in propose a Lyapunov-based controller for stabilization problem. Numerical simulations are shown into two scenarios: with external disturbances and without external disturbances to observe the effectiveness of control scheme proposed.
AB - In this paper a control scheme for rotary base inverted pendulum is developed in order to stabilize system. The mathematical model is obtained by Euler-Lagrange equations and some considerations are taken. The control scheme is divided into three steps: first, a linear control law for angle's base is proposed for tracking trajectory problem. Then, the desired trajectory in angle position is used as artificial control input and some auxiliary controllers are developed in order to express the dynamics as a pendulum on a cart system. The last step consist in propose a Lyapunov-based controller for stabilization problem. Numerical simulations are shown into two scenarios: with external disturbances and without external disturbances to observe the effectiveness of control scheme proposed.
UR - http://www.scopus.com/inward/record.url?scp=85134293196&partnerID=8YFLogxK
U2 - 10.1109/CoDIT55151.2022.9804012
DO - 10.1109/CoDIT55151.2022.9804012
M3 - Contribución a la conferencia
AN - SCOPUS:85134293196
T3 - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
SP - 141
EP - 145
BT - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Y2 - 17 May 2022 through 20 May 2022
ER -