Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
STABILIZATION OF A FURUTA PENDULUM BY USING A VARIANT DISTURBANCE REJECTION CONTROL APPROACH
Submission Author:
Alessandro Zachi , RJ
Co-Authors:
Lúcio Mascarenhas, Josiel Gouvêa, Antonio Carlos Valdiero, Walter de Britto Vidal Filho, Alessandro Zachi
Presenter: Alessandro Zachi
doi://10.26678/ABCM.COBEM2023.COB2023-0573
Abstract
This work addresses the stabilization problem of a rotary inverted pendulum mechanism by using a robust control strategy, which is robust to unmodeled dynamics, parametric uncertainties and external disturbances. As the rotating pendulum is a nonminimum phase system, it is proposed to use an extension of the MP-ADRC controller recently proposed in literature. Through a cascade control structure, in which the dynamics of the inverted pendulum system is represented as two second-order systems in cascade, two MP-ADRC controllers are designed, one for solving a tracking problem and the other one for the stabilization problem of a nonminimum phase system. The stability analysis of the resulting closed-loop configuration is discussed. Simulation tests are performed with the control strategy proposed and the obtained results are discussed.
Keywords
Furuta pendulum, robust control, ADRC method, Underactuated mechanical systems
