A Signal Compensation-Based Robust Swing-up and Balance Control Method for the Pendubot

Cui Wei, Tianyou Chai, Xin Xin, Xinkai Chen, Liangyong Wang, Ye Hwa Chen

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated and subject to dynamic friction, backlash, and modeling uncertainty. The method involves three major developments. First, the uncertainty of the system is described by a previous sampled unknown nonlinear term and its changing rate. Compensation signals are then designed to eliminate the influence of the previous sampled unknown nonlinear term and its changing rate on the outputs of the controlled plant. Second, based on the Lyapunov stability theory, a robust swing-up control method is proposed. Third, in order to eliminate the limit cycle phenomenon caused by the uncertainty near the unstable equilibrium point, a proportional-derivative (PD) balance controller based on compensation signals is proposed. The stability and tracking error analysis show that the compensation signals can effectively eliminate the influence of dynamic friction, backlash and modeling uncertainty on the system. Experimental results verify the effectiveness of the proposed method by showing significant improvements in production rate, accuracy, and cost.

Original languageEnglish
JournalIEEE Transactions on Industrial Electronics
DOIs
Publication statusAccepted/In press - 2021

Keywords

  • Dynamic friction
  • Pendubot system
  • robust swing-up and balance control
  • signal compensation method
  • tracking error

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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