Article Per Year (5 Year)
p-Index From 2020 - 2025
0.23
P-Index
This Author published in this journals
All Journal Journal of Robotics and Control (JRC)
Minh-Tai Vo
1. School of Science, Engineering, and Technology, Royal Melbourne Institute of Technology, Ho Chi Minh City, Vietnam. 2. Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh city University of Technology, VNU-HCMC, Ho Chi Minh City,
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search
Journal : Journal of Robotics and Control (JRC)

 1 
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 Van-Dong-Hai Nguyen Vinh-Hao Nguyen