WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 16, 2021
Hybrid Control of a Pendubot System using Nonlinear H∞ and LQR
Author:
Abstract: In this paper, a hybrid control approach is synthesized for stabilizing an under-actuated mechanical
system, the Pendubot. This kind of system is divided into two modes, the swing-up mode, and the balancing
mode. First, dynamic modeling is established by the Euler-Lagrange method. Next, the robust nonlinear H∞ is
designed for the swing-up mode, which handles with the nonlinear model. To weaken the under-actuation
characteristic, the control law is developed for the active link with its coupling with the passive link. The LQR
is designed for the balancing mode where LQR handles with the linearized model about the unstable top
equilibrium position. A simulation is achieved under the MATLAB/Simulink environment. It shows robustness
against the external inputs and the fast convergence to the equilibrium position.
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Keywords: Pendubot, Nonlinear H&infin, LQR, Under-actuated mechanical systems, Robust control, Optimal
control.
Pages: 155-161
DOI: 10.37394/23203.2021.16.12