TY - GEN
T1 - Control Scheme for Rotary Base Inverted Pendulum by Means of Nested Saturation Functions
AU - Rios, Cesar Alejandro Villasenor
AU - Gutierrez-Frias, Octavio
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper develop the design of control scheme for the Rotary Base Inverted Pendulum (RBIP) system which consist in two closed-loop controls: First, a proportional-derivative (PD) control law for tracking trajectory at the angle of the base is apply; then, a closed-loop control consider angle of the base as artificial control and use nested saturation functions to stabilize pendulum's angle and horizontal displacement. The control scheme use the desired trajectory as artificial control input, through tracking trajectory control, and shows a methodology to express the system as chain of integrator to propose a controller by means of nested saturation functions. Numerical simulations are presented to show the effectiveness of control scheme proposed and is contrasted with a linear feedback controller.
AB - This paper develop the design of control scheme for the Rotary Base Inverted Pendulum (RBIP) system which consist in two closed-loop controls: First, a proportional-derivative (PD) control law for tracking trajectory at the angle of the base is apply; then, a closed-loop control consider angle of the base as artificial control and use nested saturation functions to stabilize pendulum's angle and horizontal displacement. The control scheme use the desired trajectory as artificial control input, through tracking trajectory control, and shows a methodology to express the system as chain of integrator to propose a controller by means of nested saturation functions. Numerical simulations are presented to show the effectiveness of control scheme proposed and is contrasted with a linear feedback controller.
KW - Non-linear control
KW - inverted pendulum
KW - nested saturation
KW - tracking trajectory
KW - under-Actuated system
UR - http://www.scopus.com/inward/record.url?scp=85123827715&partnerID=8YFLogxK
U2 - 10.1109/CCE53527.2021.9633068
DO - 10.1109/CCE53527.2021.9633068
M3 - Contribución a la conferencia
AN - SCOPUS:85123827715
T3 - CCE 2021 - 2021 18th International Conference on Electrical Engineering, Computing Science and Automatic Control
BT - CCE 2021 - 2021 18th International Conference on Electrical Engineering, Computing Science and Automatic Control
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2021
Y2 - 10 November 2021 through 12 November 2021
ER -