Application of Rexroth Controlling for Inverted Pendulum

Rónai, László; Szabó, Tamás

doi:10.21791/ijems.2019.1.22.

Cited by 1 publication

(1 citation statement)

References 2 publications

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“…Trajectory tracking control is one of topic to study in control engineering [66]- [69]. Besides, a few authors use programmable logic controller (PLC) to control of RIP such as [70]- [73].…”

Section: Introductionmentioning

confidence: 99%

Combining Passivity-Based Control and Linear Quadratic Regulator to Control a Rotary Inverted Pendulum

Vo,

Nguyen,

Duong

et al. 2023

Journal of Robotics and Control

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In this manuscript, new combination methodology is proposed, which named combining Passivity-Based Control and Linear Quadratic Regulator (for short, CPBC-LQR), to support the stabilization process as the system is far from equilibrium point. More precisely, Linear Quadratic Regulator (for short, LQR) is used together with Passivity-Based Control (for short, PBC) controller. Though passivity-based control and linear quadratic regulator are two control methods, it is possible to integrate them together. The combination of passivity-based control and linear quadratic regulator is analyzed, designed and implemented on so-called rotary inverted pendulum system (for short, RIP). In this work, CPBC-LQR is validated and discussed on both MATLAB/Simulink environment and real-time experimental setup. The numerical simulation and experimental results reveal the ability of CPBC-LQR control scheme in stabilization problem and achieve a good and stable performance. Effectiveness and feasibility of proposed controller are confirmed via comparative simulation and experiments.

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