Title: Mixed VSS swinging-up/balancing stabilisation of a rotating pendulum

Authors: Faical Mnif

Addresses: Department of Electrical and Computer Engineering, Sultan Qaboos University, P.O. Box 33, Muscat 123, Oman; Intelligent Control, Design and Optimisation of Complex Systems Research Unit, ENIS, Tunisia

Abstract: This paper describes the development of a mixed VSS swinging-up/balancing controller for the stabilisation of an underactuated mechanical system, the rotating pendulum. The control design is achieved through two stages. The first deals with the swinging-up of the pendulum and the second deals with the balancing of the pendulum about its equilibrium unstable position. The swing-up controller is based on a non-collocated partial feedback linearisation of the underactuated system with a particular choice of the additional control, for which the design is made using the VSS approach. On the other hand, the balancing control is based on the linearised model of the pendulum about its equilibrium unstable position. Simulation results made on a 2-DOF rotating pendulum are given to illustrate the proposed approach.

Keywords: underactuated mechanical systems; rotating pendulum; sliding mode; stabilisation; balancing control; swinging-up control; control design.

DOI: 10.1504/IJMIC.2006.012613

International Journal of Modelling, Identification and Control, 2006 Vol.1 No.4, pp.257 - 262

Published online: 27 Feb 2007 *

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