Combining Passivity-Based Control and Linear Quadratic Regulator to Control a Rotary Inverted Pendulum

Minh-Tai Vo, Van-Dong-Hai Nguyen, Hoai-Nghia Duong, Vinh-Hao Nguyen

Abstract


In this manuscript, new combination methodology is proposed, which named combining Passivity-Based Control and Linear Quadratic Regulator (for short, CPBC-LQR), to support the stabilization process as the system is far from equilibrium point. More precisely, Linear Quadratic Regulator (for short, LQR) is used together with Passivity-Based Control (for short, PBC) controller. Though passivity-based control and linear quadratic regulator are two control methods, it is possible to integrate them together. The combination of passivity-based control and linear quadratic regulator is analyzed, designed and implemented on so-called rotary inverted pendulum system (for short, RIP). In this work, CPBC-LQR is validated and discussed on both MATLAB/Simulink environment and real-time experimental setup. The numerical simulation and experimental results reveal the ability of CPBC-LQR control scheme in stabilization problem and achieve a good and stable performance. Effectiveness and feasibility of proposed controller are confirmed via comparative simulation and experiments.

Keywords


Stabilization control; Linear quadratic regulator; Passivity-based control; Rotary inverted pendulum; Combination

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References


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DOI: https://doi.org/10.18196/jrc.v4i4.18498

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