<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, a complex control strategy to swing-up and balance the under-actuated pendubot system in one of its unstable equilibrium positions is presented. The initial swing-up maneuver is performed using an energy-based approach. For the purposes of stabilizing the system in its mid unstable equilibrium position a model predictive controller based on optimal control law with integral action is proposed. Satisfaction of constraints is ensured by introducing perturbations in the LQ control law acting as corrections when input amplitude/rate bounds are to be exceeded. The stability issue is addressed via additional constraints imposed on the terminal set. The emphasis of the paper is on the experimental realization of the pendubot swing-up followed by its balancing, which reveals the accuracy of the proposed control scheme.</p></abstract>

In this paper, a complex control strategy to swing-up and balance the under-actuated pendubot system in one of its unstable equilibrium positions is presented. The initial swing-up maneuver is performed using an energy-based approach. For the purposes of stabilizing the system in its mid unstable equilibrium position a model predictive controller based on optimal control law with integral action is proposed. Satisfaction of constraints is ensured by introducing perturbations in the LQ control law acting as corrections when input amplitude/rate bounds are to be exceeded. The stability issue is addressed via additional constraints imposed on the terminal set. The emphasis of the paper is on the experimental realization of the pendubot swing-up followed by its balancing, which reveals the accuracy of the proposed control scheme.

Achieving an Equilibrium Position of Pendubot Via Swing-Up and Stabilizing Model Predictive Control

Institute of Automation, Measurement and Applied Informatics, Faculty of Mechanical Engineering, Slovak University of Technology in Bratislava, N´m. slobody 17, 812 31 Bratislava, Slovakia

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In this paper, a complex control strategy to swing-up and balance the under-actuated pendubot system in one of its unstable equilibrium positions is presented....

Achieving an Equilibrium Position of Pendubot Via Swing-Up and Stabilizing Model Predictive Control

Publié en ligne: 31 janv. 2015

Pages: 356 - 363

Reçu: 06 déc. 2013

DOI: https://doi.org/10.2478/jee-2014-0058

© 2015 Faculty of Electrical Engineering and Information Technology, Slovak University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.