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All Journal Journal of Fuzzy Systems and Control (JFSC)
Phan, Thai-Chan
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Journal : Journal of Fuzzy Systems and Control (JFSC)

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Experimental Swing-Up Control of Advanced Sliding and Energy-based Modes for Pendubot Tran, Minh-Duy; Trinh, Minh-Phu; Do, Nguyen-Son; Phan, Thai-Chan; Ngo, Tan-Bao-Chau; Nguyen, Viet-Thuan; Ngo, Viet-Dung; Hoang, Ngoc-Quan; Trinh, Tan-Phong; Le, Thi-Hong-Lam
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.277

Abstract

This study focuses on the implementation and comparative evaluation of two swing-up control strategies—Energy-Based Methods (EBM) and Advanced Sliding Mode Control (ASMC)—for pendubot, a nonlinear two-link robotic system. While previous research has extensively explored balancing algorithms for this model, swing-up strategies have primarily been analyzed through simulations, with limited application to real-world systems. This research addresses this gap by deploying both EBM and ASMC on a physical pendubot model. Practical results are presented to provide the most accurate evaluation of the control quality of each algorithm.
Co-Authors Do, Nguyen-Son Hoang, Ngoc-Quan Le, Thi-Hong-Lam Ngo, Tan-Bao-Chau Ngo, Viet-Dung Nguyen, Viet-Thuan Tran, Minh-Duy Trinh, Minh-Phu Trinh, Tan-Phong