Aguilar-Avelar Carlos, Moreno-Valenzuela Javier
Instituto Politécnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C. 22510, Mexico.
ISA Trans. 2015 Jul;57:286-94. doi: 10.1016/j.isatra.2015.02.009. Epub 2015 Mar 16.
In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation.
本文提出了一种新的复合方案，其中总控制作用由基于反馈线性化的控制器和基于能量的补偿之和组成。这一新方案应用于旋转倒立摆或古田摆。古田摆是一个著名的具有两个自由度的欠驱动机械系统。在这种情况下，控制目标是跟踪驱动关节中期望的周期性轨迹，同时将未驱动连杆调节到向上位置。对闭环系统进行了分析，表明误差轨迹具有一致最终有界性。设计过程以建设性的形式给出，以便在适当定义输出函数和能量函数的情况下，可应用于其他欠驱动机械系统。数值模拟和实时实验表明了该控制器的实际可行性。最后，将所提出的算法与文献中先前报道的跟踪控制器进行了比较。新算法在手臂轨迹跟踪和摆锤调节方面均表现出更好的性能。
