Passivity Based Control of a Cart with Inverted Pendulum

Matthias Jörgl; Kurt Schlacher; Hubert Gattringer

doi:10.4028/www.scientific.net/AMM.332.339

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 332Passivity Based Control of a Cart with Inverted...

Passivity Based Control of a Cart with Inverted Pendulum

Abstract:

This paper deals with passivity based control of a cart , which can moves on a skew plain. On the cart a non actuated pendulum is assembled. Therefore, the mechanical system is non-linear, one degree under actuated and instable. The equation of motion is derived by the method of Lagrange. The goal of the control strategy is to stabilize the cart and the upper position of the pendulum. The applied control strategy is called Interconnection Damping Assignment Passivity Based Control (IDA-PBC). This method allows a physical approach with a simple proof of stability having appropriate Lyapunov function on hand. The simple proof of stability is an advantage of this theory. However, the proof of stability is fulfilled, challenging partial differential equation have to be solved to get the control law. Measurements results are presented.

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Periodical:

Applied Mechanics and Materials (Volume 332)

Pages:

339-344

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.332.339

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Online since:

July 2013

Authors:

Matthias Jörgl, Kurt Schlacher, Hubert Gattringer

Keywords:

Cart with Inverted Pendulum, Energy Shaping, IDA-PBC, Non-Linear Control, Passivity Based Control, Simulation

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