Work

Stabilization of the Cart Pendulum using a Homogeneous Controller

Year: 2024

Type: conference-paper

Abstract: This manuscript addresses the problem of stabilization of a cart pendulum using a homogeneous controller. The model of the cart pendulum is composed by a combination of strict-feedback and feedforward parts. The proposed homogeneous controller allows the feedforward nonlinearities to be globally dominated. Emphasizing the simplicity of the controller's design, the methodology relies on solving a system of linear matrix inequalities. Furthermore, a finite-time bound of convergence is evaluated. The effectiveness of the proposed methodology is validated through experimental results on a real cart pendulum.

Source: International Workshop on Variable Structure Systems

DOI: 10.1109/vss61690.2024.10753400

Authors: José Antonio Ortega, Denis Efimov, Andrey Polyakov, Jaime A. Moreno, Leonid Fridman

Institutions: Universidad Nacional Autónoma de México, Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Université de Lille, Centre de Recherche en Informatique, Signal et Automatique de Lille, Instituto de Ingeniería

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Agence Nationale de la Recherche

OpenAlex ID: W4404564177

FWCI:

Cites: 17

Cited by:

Related to: 10