Stabilization of a Furuta’s Pendulum using Barrier Function-based Adaptive Lyapunov Re-design

https://doi.org/10.58571/CNCA.AMCA.2022.052

Resumen: One of the most challenging task in the control engineering is the stabilization of underactuated systems. This task can be even arduous if the system is affected by parametric uncertainties due to a partial knowledge of the parameters or external disturbances. These difficulties could lead to instability. The paper presents an adaptive approach to the Lyapunov redesign, stabilizing a Furuta’s pendulum, where the control signal follows the uncertainties with opposite sign. The controller is composed of a nominal term and a barrier function based adaptive sliding mode control. The gain guarantees the system trajectories converge to a vicinity of the surface in finite-time. Then, a barrier-function gain maintains the sliding surface inside a predefined vicinity. In this matter, the proposed controller guarantees the estimation of the uncertanties generating a continuous control signal from the semi-positive definite barrier function. Finally, some experiments were performed to prove the feasibility of the proposed controller.

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González-Rodríguez, A., Ortega, J., Estrada, M., Moreno, J. & Fridman, L. Stabilization of a Furuta’s Pendulum using Barrier Function-based Adaptive Lyapunov Re-design. Memorias del Congreso Nacional de Control Automático, pp. 286-293, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.052

Palabras clave

Control Discontinuo (modos deslizantes); Control de Sistemas No Lineales

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