Passivity-based nonlinear stabilizing control for a mobile inverted pendulum

Kazuto Yokoyama, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Mobile inverted pendulums (MIPs) need to be stabilized at all times using a reliable control method. Previous studies were based on a linearized model or feedback linearization. In this study, interconnection and damping assignment passivity-based control (IDA-PBC) is applied. The IDA-PBC is a nonlinear control method which has been shown to be powerful in stabilizing underactuated mechanical systems. Although partial differential equations (PDEs) must be solved to derive the IDA-PBC controller and this is a difficult task in general, we show that the IDA-PBC controller for the MIP can be derived solving the PDEs. We also formulate conditions which must be satisfied to guarantee asymptotic stability and show a procedure to estimate the domain of attraction. Simulation results indicate that the IDA-PBC controller achieves fast performance theoretically ensuring a large domain of attraction. We also verify its effectiveness in experiments. In particular control performance under an impulsive disturbance to the MIP are verified. The IDA-PBC achieves as fast transient performance as a linear-quadratic regulator (LQR). In addition, we show that even when the pendulum declines quickly and largely because of the disturbance, the IDA-PBC controller is able to stabilize it whereas the LQR can not.

Original languageEnglish
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Pages128-134
Number of pages7
Publication statusPublished - 2011 Sep 14
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
Duration: 2011 Jul 282011 Jul 31

Publication series

NameICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Volume2

Other

Other8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
CountryNetherlands
CityNoordwijkerhout
Period11/7/2811/7/31

Keywords

  • Experiment
  • Interconnection and damping assignment
  • Mobile inverted pendulum
  • Nonlinear control
  • Passivity

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

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  • Cite this

    Yokoyama, K., & Takahashi, M. (2011). Passivity-based nonlinear stabilizing control for a mobile inverted pendulum. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 128-134). (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).