Date of Award

Fall 2004

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical & Aerospace Engineering

Program/Concentration

Aerospace Engineering

Committee Director

Thomas Alberts

Committee Member

Brett Newman

Committee Member

Oscar Gonzalez

Call Number for Print

Special Collections; LD4331.E535 W365 2004

Abstract

In this thesis, nonlinear controllers are designed for the swing-up and balance modes of a rotational inverted pendulum, which is a pendulum hinged on a horizontally rotating link. The proposed control algorithms are designed by partial feedback linearization and sliding mode control techniques, for swing-up and balancing respectively. First a mathematical model of the pendulum dynamics is derived, followed by experimental verification. Then the system model is partially linearized, which makes it possible for the system to track a simple desired trajectory with "pump energy" function. Then a swing-up controller is designed. For an under-actuated mechanical system, like the inverted pendulum studied here, only the actuated degree of freedom can be feedback linearized. The other part of the dynamics are the internal dynamics, which need to be analyzed during the design procedures. The resulting internal dynamics are analyzed to further understand the plant and control algorithm. A robust controller of the sliding mode type is designed next. The controllers are simulated within a MATLAB Simulink environment. The experiment is carried out based on the XPC target environment which can convert a Simulink model into executable real time code. Experimental implementation demonstrates the effectiveness of the control laws. Although the mathematical system model is close to the real plant, it still has some discrepancies shown in the comparison of simulation and experimental results. The effectiveness of the sliding mode control shows that this kind of controllers have certain robustness to uncertainties, which is the desired property of this design. The combined controller has another property which is that its gains are easy to tune. Thus the proposed controller provides a good test bed for experimental implementation.

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DOI

10.25777/bk8g-7r22

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