Performance Without Tweaking Differentiators via a PR controller : Furuta Pendulum Case Study

• Performance of mechatronics systems can deteriorate significantly under the presence of delays in measurements. On the other hand, intentional introduction of a delay in a feedback control law may be beneficial in achieving good performance without relying on accurately tuned estimates for derivatives of measured signals. In this context, a proper design of retarded control laws represents an important challenge, and this paper gives a step forward to obtain better control laws for underactuated mechanical systems under the presence of time delays in measurements. Particularly, a Proportional-Retarded (PR) control law is designed for stabilization of an underactuated rotational inverted pendulum, known as the Furuta pendulum. Experiments over a laboratory platform as well as a comparison with a Linear Quadratic Regulator (LQR) are performed to show the advantages of the proposed scheme.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

NATURVETENSKAP  -- Fysik (hsv//swe)

NATURAL SCIENCES  -- Physical Sciences (hsv//eng)

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