A switched control strategy for swing-up and state regulation for the rotary inverted pendulum

Miguel A. Solis, Manuel Olivares, Héctor Allende

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

1 Cita (Scopus)

Resumen

The rotary inverted pendulum (RIP) is an underactuated mechanical system that can be balanced in the upward position, by applying the linear control theory based on a nonlinear dynamical model linearized around that position. Its structure makes it possible to implement controllers designed for energy minimization in the non-linearizable region. Due to the limited validity of the resulting linear model, a nonlinear control is needed to automatically move the pendulum close to the linearized region, starting from its stable downward position. A RIP platform has been built to experimentally test a switched control strategy design, which combines an energy-based nonlinear controller for swinging up the pendulum and a linear quadratic regulator for the balancing task. Experimental results validate the performance of this approach on the physical prototype.

Idioma originalInglés
Páginas (desde-hasta)45-54
Número de páginas10
PublicaciónStudies in Informatics and Control
Volumen28
N.º1
DOI
EstadoPublicada - 1 ene 2019
Publicado de forma externa

Áreas temáticas de ASJC Scopus

  • Informática (todo)
  • Ingeniería eléctrica y electrónica

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