Global control for the Furuta Pendulum based on Partial Feedback Linearization and stabilization of the Zero Dynamics

2017 ◽  
Author(s):  
G. Garcia-Chavez ◽  
E. Munoz-Panduro
Keyword(s):  
Feedback Linearization ◽  
Zero Dynamics ◽  
Global Control ◽  
Partial Feedback Linearization ◽  
Partial Feedback

scholarly journals Evaluation of Linearization Methods for Control of the Pendubot

2021 ◽  
Vol 11 (16) ◽  
pp. 7615
Author(s):  
Paweł Parulski ◽  
Patryk Bartkowiak ◽  
Dariusz Pazderski
Keyword(s):  
Feedback Linearization ◽  
Closed Loop ◽  
Input Saturation ◽  
Zero Dynamics ◽  
Closed Loop System ◽  
New Approach ◽  
Linearization Methods ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Control Methodology

The aim of this paper is to test the usefulness of a new approach based on partial feedback linearization to control the Pendubot. The control problem stated in the article is to stabilize the Pendubot in the upright position. In particular, properties of the closed-loop system and the zero dynamics are investigated and illustrated by results of simulations. Next, the performance of a hybrid-like controller in the case of input saturation is evaluated by conduction extensive simulation trails. The experimental results suggest that the considered control methodology can be successfully applied for a real system.

Control of a Compass Gait Biped Robot Based on Partial Feedback Linearization

2012 ◽  
pp. 117-127 ◽  
Author(s):  
Sreeja Kochuvila ◽  
Shikha Tripathi ◽  
Sudarshan T.S.B.
Keyword(s):  
Feedback Linearization ◽  
Biped Robot ◽  
Partial Feedback Linearization ◽  
Partial Feedback

Combined control with sliding mode and Partial feedback linearization for a spatial ridable ballbot

2019 ◽  
Vol 128 ◽  
pp. 531-550 ◽  
Author(s):  
Dinh Ba Pham ◽  
Jaejun Kim ◽  
Soon-Geul Lee
Keyword(s):  
Feedback Linearization ◽  
Sliding Mode ◽  
Partial Feedback Linearization ◽  
Combined Control ◽  
Partial Feedback

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

2019 ◽  
pp. 014233121986777
Author(s):  
Fatih Adıgüzel ◽  
Yaprak Yalçın
Keyword(s):  
Discrete Time ◽  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Backstepping Control ◽  
Disturbance Attenuation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Backstepping Controller

A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

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