Performance without tweaking differentiators via a PR controller: Furuta pendulum case study

Ortega, T.; Villafuerte, R.; Vázquez, C.R.; Freidovich, Leonid B.

doi:10.1109/icra.2016.7487566

Cited by 6 publications

(6 citation statements)

References 27 publications

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“…Another benefit of the PR control strategy is that its numerical realization is computationally more efficient than other classical control techniques such as a PID controller. PR control application to a mechatronic system was presented in [37,38], wherein the authors present a pendulum control performance without tweaking differentiators. Yet another study elaborated the closed-loop stability analysis of voltage buck using proportional-delayed controller [17] that the is also based on the geometric approach, which allows partitioning the parameters space into regions with a constant number of unstable roots.…”

Section: A Review Of Favourable Effects Of Delay In Control Systemsmentioning

confidence: 99%

A Novel Modified Delay-Based Control Algorithm with an Experimental Application

Özbek

Eker

2019

ITC

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In the present article, a new modified delay-based control structure is proposed to improve the closed-loop performance of control systems. The controller is designed for a second-order linear time-invariant system. The controller parameters are tuned by using the integral of the absolute error criterion. Theoretical results are simulated and experimentally applied to an electromechanical system, which is identified with an interactive system identification tool. It is shown that the present controller provides better control measures and time domain specifications compared with the classical PID and PI-PD controllers in the presence of measurement noise as well as uncertainties.

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Section: A Review Of Favourable Effects Of Delay In Control Systemsmentioning

confidence: 99%

A Novel Modified Delay-Based Control Algorithm with an Experimental Application

Özbek

Eker

2019

ITC

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“…Recently, several control algorithms to stabilize the unstable equilibrium point without considering the swinging up procedure have been proposed. For example, the works in [5] using the integral sliding mode technique, in [1] applying input-output linearization, and in [24] employing proportional-retarded control. The literature, sometimes, employs the term inverted pendulum to refer to the Furuta pendulum as well as to the inverted pendulum on a cart.…”

Section: Introductionmentioning

confidence: 99%

A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach

Rodriguez-Cortes¹

2019

Kybernetika

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“…Furuta pendulum is a well-known academic example that is used as a benchmark for the study of underactuated mechanical systems [33,34]. Recently, in [17], the control design of a PR controller for the stabilization of Furuta pendulum was introduced; however, the effect of the inherent delay, present in the unactuated variable, was not studied. In contrast to the previous work [17], this paper presents a more detailed analysis for the tuning of control gains; also new experiments and graphs are presented, as well as experimental tests of robustness under external disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, in [17], the control design of a PR controller for the stabilization of Furuta pendulum was introduced; however, the effect of the inherent delay, present in the unactuated variable, was not studied. In contrast to the previous work [17], this paper presents a more detailed analysis for the tuning of control gains; also new experiments and graphs are presented, as well as experimental tests of robustness under external disturbances. In addition, the organization of the document is better and more natural; also a more comprehensive bibliographic review is performed and the introduction presents a better justification of the topic of study.…”

Section: Introductionmentioning

confidence: 99%

“…It is well known that noise, time delays, sampling, and unmodeled dynamics deteriorate the performance of such estimators. Hence, it is of relevance to understand the effect of time delays in measurements as well as the potential of such delays as a second degree of freedom for control design (see [16,17]). For this aim, a PR controller design will be presented together with the Mikhailov stability approach.…”

Section: Introductionmentioning

confidence: 99%

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Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Ortega-Montiel

Villafuerte-Segura

Vázquez³

et al. 2017

Mathematical Problems in Engineering

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The design and tuning of a simple feedback strategy with delay to stabilize a class of underactuated mechanical systems with dead time are presented. A linear time-invariant (LTI) model with time delay of fourth order and a Proportional Retarded (PR) controller are considered. The PR controller is shown as an appealing alternative to the application of observer-based controllers. This paper gives a step forward to obtain a better understanding of the effect of output delays and related phenomena in mechatronic systems, making it possible to design resilient control laws under the presence of uncertain time delays in measurements and obtain an acceptable performance without using a derivative action. The Furuta pendulum is a standard two-degrees-of-freedom benchmark example from the class of underactuated mechanical systems. The configuration under study includes an inherent output delay due to wireless communication used to transmit measurements of the pendulum's angular position. Our approach offers a constructive design and a procedure based on a combination of root loci and Mikhailov methods for the analysis of stability. Experiments over a laboratory platform are reported and a comparison with a standard linear state feedback control law shows the advantages of the proposed scheme.

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Performance without tweaking differentiators via a PR controller: Furuta pendulum case study

Cited by 6 publications

References 27 publications

A Novel Modified Delay-Based Control Algorithm with an Experimental Application

A Novel Modified Delay-Based Control Algorithm with an Experimental Application

A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

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