title: A composite controller for trajectory tracking applied to the Furuta pendulum.
abstract: 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.
authors: Instituto Politécnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C. 22510, Mexico. Electronic address: caguilar@citedi.mx.
authors: Carlos
authors: C
authors: Aguilar-Avelar
authors: Instituto Politécnico Nacional-CITEDI, Av. del Parque 1310, Mesa de Otay, Tijuana, B.C. 22510, Mexico. Electronic address: moreno@citedi.mx.
authors: Javier
authors: J
authors: Moreno-Valenzuela
keywords: Furuta pendulum; Nonlinear control; Real-time control; Trajectory tracking; Underactuated systems