Experimental Swing-Up Control of Advanced Sliding and Energy-based Modes for Pendubot
DOI:
https://doi.org/10.59247/jfsc.v3i1.277Keywords:
LQR, Energy-based Method, Sliding Mode Control, Pendubot, Swing-upAbstract
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.
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Copyright (c) 2024 Minh-Duy Tran, Minh-Phu Trinh, Nguyen-Son Do, Thai-Chan Phan, Tan-Bao-Chau Ngo, Viet-Thuan Nguyen, Viet-Dung Ngo, Ngoc-Quan Hoang, Tan-Phong Trinh, Thi-Hong-Lam Le
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