This paper presents a feedback passivation control scheme, which named passivity-based controller (for short, PBC) for rotational inverted pendulum (for short, RIP), an under-actuated mechanical system which is nonlinear and unstable. Previous studies developed PBC by using one of two existing methods, which include choice of output and feedback passivation. The motivation of this paper is to develop PBC by combining choice of output and feedback passivation. The plant and PBC method are modeled and analyzed in MATLAB/Simulink environment. The end of this work presents a number of simulations regarding stabilization control of RIP by PBC. Theoretical analyses and validation results is provided to demonstrate the effectiveness and robustness of PBC.
Passivity-Based Control of Underactuated Rotary Inverted Pendulum System
Lect. Notes Electrical Eng.
International Conference on Robotics, Vision, Signal Processing and Power Applications ; 2021 April 05, 2021 - April 06, 2021
Proceedings of the 12th International Conference on Robotics, Vision, Signal Processing and Power Applications ; Kapitel : 28 ; 223-230
31.03.2024
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Passivity-based control , Feedback passivation control scheme , Rotational inverted pendulum , PBC , Stabilization Engineering , Control, Robotics, Mechatronics , Signal, Image and Speech Processing , Power Electronics, Electrical Machines and Networks , Artificial Intelligence , Computational Intelligence
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