Saturday , September 21 2019

A Switched Control Strategy for Swing-Up and State Regulation for the Rotary Inverted Pendulum

Miguel A. SOLIS1*, Manuel OLIVARES2, Héctor ALLENDE3
1 Department of Computer & Systems Engineering, Universidad Católica del Norte
Avenida Angamos 0610, Antofagasta, Chile
miguel.solis@ucn.cl (*Corresponding author),
2 Department of Electronics Engineering, Universidad Técnica Federico Santa María
Avenida España 1680, Valparaíso, Chile
manuel.olivares@usm.cl
3 Department of Informatics, Universidad Técnica Federico Santa María
Avenida España 1680, Valparaíso, Chile
hector.allende@usm.cl

ABSTRACT: The rotary inverted pendulum (RIP) is an underactuated mechanical system that can be balanced in the upward position, by applying the linear control theory based on a nonlinear dynamical model linearized around that position. Its structure makes it possible to implement controllers designed for energy minimization in the non-linearizable region. Due to the limited validity of the resulting linear model, a nonlinear control is needed to automatically move the pendulum close to the linearized region, starting from its stable downward position. A RIP platform has been built to experimentally test a switched control strategy design, which combines an energy-based nonlinear controller for swinging up the pendulum and a linear quadratic regulator for the balancing task. Experimental results validate the performance of this approach on the physical prototype.

KEYWORDS: Linear quadratic regulator, Energy-based control, Lyapunov stability, Rotary inverted pendulum, Underactuated systems.

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CITE THIS PAPER AS:
Miguel A. SOLIS, Manuel OLIVARES, Héctor ALLENDE, A Switched Control Strategy for Swing-Up and State Regulation for the Rotary Inverted Pendulum, Studies in Informatics and Control, ISSN 1220-1766, vol. 28(1), pp. 45-54, 2019. https://doi.org/10.24846/v28i1y201905