A composite controller for trajectory tracking applied to the Furuta pendulum. (July 2015)

• Record Type: Journal Article
• Authors: Aguilar-Avelar, Carlos; Moreno-Valenzuela, Javier
• Is Part Of: ISA transactions. Volume 57(2015:Jul.)
• Page Start: 286
• Page End: 294
• Publication Date: 2015-07
• Subjects: Trajectory tracking -- Nonlinear control -- Underactuated systems -- Furuta pendulum -- Real-time control; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2015.02.009
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: 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. Abstract : Author-Highlights: New control algorithm composed of feedback-linearization and an energy-based compensation. The new scheme is applied for trajectory tracking of the Furuta pendulum. Uniformly ultimately boundedness of the closed-loop system trajectories is guaranteed. Real-time experiments and numerical simulations confirm the theoretical results. The proposed algorithm shows better performance.