This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart. (C) 2018 Elsevier Ltd. All rights reserved.
Franco, E., Astolfi, A., Rodriguez y Baena, F. (2018). Robust balancing control of flexible inverted-pendulum systems. MECHANISM AND MACHINE THEORY, 130, 539-551 [10.1016/j.mechmachtheory.2018.09.001].
Robust balancing control of flexible inverted-pendulum systems
Astolfi A.
;
2018-01-01
Abstract
This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart. (C) 2018 Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
