Energy-based design of elastic joints for inverted pendulum systems with input saturation
File(s)MED2019-accepted.pdf (797.92 KB)
Accepted version
Author(s)
Franco, Enrico
Type
Conference Paper
Abstract
This work investigates the balancing control of underactuated inverted pendulum systems with input saturation. To this end, the design of elastic joints according to potential-energy shaping principles is combined with energy-shaping control. As a result, analytical design guidelines are synthesized and implemented fortwo classical examples: the inertia-wheel pendulum and the Acrobot system.Asimulation study demonstrates the effectiveness of the proposed approach in reducing control effort while preserving transient performance.
Date Issued
2019-08-15
Date Acceptance
2019-04-19
Citation
2019 27th Mediterranean Conference on Control and Automation (MED), 2019
Publisher
IEEE
Journal / Book Title
2019 27th Mediterranean Conference on Control and Automation (MED)
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Grant Number
EP/R009708/1
Source
27th Mediterranean Conference on Control and Automation
Publication Status
Published
Start Date
2019-07-02
Finish Date
2019-07-04
Coverage Spatial
Akko, Israel