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Performance Without Tweaking Differentiators via a PR controller: Furuta Pendulum Case Study
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2016 (English)In: 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) / [ed] Okamura, A; Menciassi, A; Ude, A; Burschka, D; Lee, D; Arrichiello, F; Liu, H; Moon, H; Neira, J; Sycara, K; Yokoi, K; Martinet, P; Oh, P; Valdastri, P; Krovi, V, Institute of Electrical and Electronics Engineers (IEEE), 2016, 3777-3782 p.Conference paper, (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 3777-3782 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-130259DOI: 10.1109/ICRA.2016.7487566ISI: 000389516203043ISBN: 978-1-4673-8026-3 (print)OAI: oai:DiVA.org:umu-130259DiVA: diva2:1065626
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 16-21, 2016, Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN
Available from: 2017-01-16 Created: 2017-01-14 Last updated: 2017-01-16Bibliographically approved

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Freidovich, Leonid
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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf