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All Journal Journal of Robotics and Control (JRC)
Van-Dong-Hai Nguyen
Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

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Combining Passivity-Based Control and Linear Quadratic Regulator to Control a Rotary Inverted Pendulum Minh-Tai Vo; Van-Dong-Hai Nguyen; Hoai-Nghia Duong; Vinh-Hao Nguyen
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18498

Abstract

In this manuscript, new combination methodology is proposed, which named combining Passivity-Based Control and Linear Quadratic Regulator (for short, CPBC-LQR), to support the stabilization process as the system is far from equilibrium point. More precisely, Linear Quadratic Regulator (for short, LQR) is used together with Passivity-Based Control (for short, PBC) controller. Though passivity-based control and linear quadratic regulator are two control methods, it is possible to integrate them together. The combination of passivity-based control and linear quadratic regulator is analyzed, designed and implemented on so-called rotary inverted pendulum system (for short, RIP). In this work, CPBC-LQR is validated and discussed on both MATLAB/Simulink environment and real-time experimental setup. The numerical simulation and experimental results reveal the ability of CPBC-LQR control scheme in stabilization problem and achieve a good and stable performance. Effectiveness and feasibility of proposed controller are confirmed via comparative simulation and experiments.
Co-Authors Hoai-Nghia Duong Minh-Tai Vo Vinh-Hao Nguyen