Abstract
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.
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Acknowledgements
We acknowledge the support of time and facilities from Ho Chi Minh City University of Technology (HCMUT), Vietnam National University, Ho Chi Minh City (VNU-HCM) for this study.
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Vo, MT., Nguyen, VDH., Duong, HN., Nguyen, VH. (2024). Passivity-Based Control of Underactuated Rotary Inverted Pendulum System. In: Ahmad, N.S., Mohamad-Saleh, J., Teh, J. (eds) Proceedings of the 12th International Conference on Robotics, Vision, Signal Processing and Power Applications. RoViSP 2021. Lecture Notes in Electrical Engineering, vol 1123. Springer, Singapore. https://doi.org/10.1007/978-981-99-9005-4_28
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DOI: https://doi.org/10.1007/978-981-99-9005-4_28
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