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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Nghi HV, Nhien DP, Nguyet NTM, Duc NT, Luu NP, Thanh PS, Ba DX (2021) A LQR-based neural-network controller for fast stabilizing rotary inverted pendulum. In: 2021 international conference on system science and engineering (ICSSE), Aug 2021, pp 19-22. https://doi.org/10.1109/ICSSE52999.2021.9537940
Pandey A, Adhyaru DM (2023) Robust control design for rotary inverted pendulum with unmatched uncertainty. Int J Dynam Control 11:1166–1177. https://doi.org/10.1007/s40435-022-01047-8
Ashenafi NA, Sirichotiyakul W, Satici AC (2022) Robust passivity-based control of underactuated systems via neural approximators and Bayesian inference. IEEE Control Syst Lett 6:3457–3462. https://doi.org/10.1109/LCSYS.2022.3184756
Gutierrez-Oribio D, Stefanou I, Plestan F (2022) Passivity-based control of underactuated mechanical systems with coulomb friction: application to earthquake prevention. ArXiv preprint arXiv:2207.07181. https://doi.org/10.48550/arXiv.2207.07181
Yang X, Zheng X (2018) Swing-up and stabilization control design for an underactuated rotary inverted pendulum system: theory and experiments. IEEE Trans Ind Electron 65(9):7229–7238. https://doi.org/10.1109/TIE.2018.2793214
Ortega R, Perez JAL, Nicklasson PJ, Sira-Ramirez HJ (2013) Passivity-based control of Euler-Lagrange systems: mechanical, electrical and electromechanical applications. Springer Science and Business Media
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.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-981-99-9005-4_28
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-9004-7
Online ISBN: 978-981-99-9005-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)