Passivity-Based Control for the Cart-Pole in Implicit Port-Hamiltonian Representation: An Experimental Validation

Authors

Alex S. Huaman, Oscar B. Cieza, Johann Reger

Abstract

This paper presents the design, analysis and experimental validation of a passivity-based control strategy for the local stabilization and swing-up of the well-known cart-pole system in implicit port-Hamiltonian representation. The stabilizing controller features the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method with an optimal local assignment. The swing-up controller is derived from the so-called energy-based control approach and underlines the stabilization of a level-set (homoclinic orbit). The combination of these controllers guarantees the swing-up and asymptotic stabilization of the upright pendulum position, as well as the desired cart location. The effectiveness of the proposed control scheme is verified via real-time experiments, and the results are compared with those from other authors.

Citation

• Journal: 2021 European Control Conference (ECC)
• Year: 2021
• Volume:
• Issue:
• Pages: 2080–2085
• Publisher: IEEE
• DOI: 10.23919/ecc54610.2021.9655210

BibTeX

@inproceedings{Huaman_2021,
  title={{Passivity-Based Control for the Cart-Pole in Implicit Port-Hamiltonian Representation: An Experimental Validation}},
  DOI={10.23919/ecc54610.2021.9655210},
  booktitle={{2021 European Control Conference (ECC)}},
  publisher={IEEE},
  author={Huaman, Alex S. and Cieza, Oscar B. and Reger, Johann},
  year={2021},
  pages={2080--2085}
}

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References

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