A Signal Compensation-Based Robust Swing-Up and Balance Control Method for the Pendubot

• Published in: IEEE transactions on industrial electronics (1982) Vol. 69; no. 3; pp. 3007 - 3016
• Main Authors: Wei, Cui, Chai, Tianyou, Xin, Xin, Chen, Xinkai, Wang, Liangyong, Chen, Ye-Hwa
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Compensation; Control methods; Control stability; Dynamic friction; Error analysis; Friction; Modelling; Nonlinear dynamical systems; PD control; Pendubot system; Proportional derivative; Robust control; robust swing-up and balance control; signal compensation method; Stability analysis; Stability criteria; Torque; tracking error; Tracking errors; Uncertainty; Unstable equilibrium point; Upper bound
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2021.3065621

This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated and subject to dynamic friction, backlash, and modeling uncertainty. The method involves three major developments. First, the uncertainty of the system is described by a previous sampled unknown nonlinear term and its changing rate. Compensation signals are then designed to eliminate the influence of the previous sampled unknown nonlinear term and its changing rate on the outputs of the controlled plant. Second, based on the Lyapunov stability theory, a robust swing-up control method is proposed. Third, in order to eliminate the limit cycle phenomenon caused by the uncertainty near the unstable equilibrium point, a proportional-derivative balance controller based on compensation signals is proposed. The stability and tracking error analysis show that the compensation signals can effectively eliminate the influence of dynamic friction, backlash, and modeling uncertainty on the system. Experimental results verify the effectiveness of the proposed method by showing significant improvements in production rate, accuracy, and cost.