Passivity based control of a cart with inverted pendulum
Sprache des Vortragstitels:
Optimization of the Intelligent Systems and their Applications in Aerospace, Robotics, Mechanical Engineering, Manufacturing Systems, Biomechatronics and Neurorehabilitation
Sprache des Tagungstitel:
This contribution deals with the application of passivity based control to the laboratory model of a cart with pendulum. A non actuated rotating pendulum is fixed on an actuated cart, which moves on a skew beam. Therefore, the 2 DOFs mechanical system is nonlinear, unstable and under actuated. A controller is designed such that the upper equilibrium of the pendulum is stabilized for a given position of the cart. The controller is derived by help of Interconnection Damping Assignment Passivity Based Control. The performance of the design is demonstrated by measurement results of certain experiments.