Energy-Based Control for the Cart-Pole System in Implicit Port-Hamiltonian Representation

• Autor: Huamán Loayza, Alex Smith
• Formato: tesis de maestría
• Fecha de Publicación: 2019
• Institución: Pontificia Universidad Católica del Perú
• Repositorio: PUCP-Tesis
• Lenguaje: inglés
• OAI Identifier: oai:tesis.pucp.edu.pe:20.500.12404/16143
• Enlace del recurso: http://hdl.handle.net/20.500.12404/16143
• Nivel de acceso: acceso abierto
• Materia: Control automático; Teoría del control; https://purl.org/pe-repo/ocde/ford#2.02.03

This master thesis is devoted to the design, analysis, and experimental validation of an energy-based control strategy for the well-known benchmark cart-pole system in implicit Port-Hamiltonian (PH) representation. The control scheme performs two tasks: swingup and (local) stabilization. The swing-up controller is carried out on the basis of a generalized energy function and consists of bringing the pendulum trajectories from the lower (stable) position to a limit cycle (homoclinic orbit), which passes by the upright (unstable) position, as well as the cart trajectories to the desired point. The (local) stabilizing controller is designed under a novel algebraic Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique and ensures the upright (asymptotic) stabilization of the pendulum as well as the cart at a desired position. To illustrate the effectiveness of the proposed control scheme, this work presents simulations and real-time experiments considering physical damping, i.e., viscous friction. The results are additionally contrasted with another energy-based control strategy for the cart-pole system in explicit Euler-Lagrange (EL) representation.