Stabilization of a cart-inverted pendulum with interconnection and damping assignment passivity-based control focusing on the kinetic energy shaping

Kazuto Yokoyama, Masaki Takahashi

Research output: Contribution to conferencePaperpeer-review

Abstract

Interconnection and damping assignment passivity-based control (IDA-PBC) is a nonlinear control method which stabilize a system shaping its total energy and utilizing passivity. In previous studies, IDA-PBC is shown to be a powerful method to stabilize underactuated mechanical systems. However, the transient performances tend to be slow. In this study, IDA-PBC is applied for a cart-inverted pendulum and free parameters in a closed-loop inertia matrix which have not been used in the previous studies are considered. This means modifying the kinetic energy more actively. We show that the transient performances of the IDA-PBC can be improved with the active modification of the kinetic energy and suitable parameter selection theoretically estimating large domain of attraction.

Original languageEnglish
Publication statusPublished - 2010 Aug 16
Event10th International Conference on Motion and Vibration Control, MOVIC 2010 - Tokyo, Japan
Duration: 2010 Aug 172010 Aug 20

Other

Other10th International Conference on Motion and Vibration Control, MOVIC 2010
CountryJapan
CityTokyo
Period10/8/1710/8/20

Keywords

  • Interconnection and damping assignment passivity-based control
  • Inverted pendulum
  • Kinetic energy
  • Nonlinear control

ASJC Scopus subject areas

  • Control and Systems Engineering

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