A Comparison of Control Schemes for Under-Actuated Pendubot System

Minh-Duc Tran 1*, Le-Tuan-Hung Pham 2, Nguyen-Quang-Dong Dang 2, Doan-Tuan-Minh Tran 2, Minh-Khoi Nguyen 2, Le-Anh Bui 2, Quoc-Khanh Nguyen 2, Minh-Tai Vo 1,3

1 Ho Chi Minh city University of Technology (HCMUT), VNUHCMC
268, Ly Thuong Kiet St., District 10, Ho Chi Minh city, 700000, Vietnam
2 Ho Chi Minh city University of Technology and Education (HCMUTE)
01, Vo Van Ngan St., Thu Duc city, Ho Chi Minh city, 700000, Vietnam
3 School of Science, Engineering and Technology (SSET), RMIT University Vietnam
702 Nguyen Van Linh Blvd., Tan Hung ward, District 7, HCMC, Vietnam
* Corresponding author. E-mail: tmduc.sdh222@hcmut.edu.vn

Robotica & Management, Vol. 28, No. 1, pp. 53-58
DOI: https://doi.org/10.24193/rm.2023.1.7

Abstract: This paper presents a comparison of the three distinctive well-known control techniques, including Linear Quadratic Regulator (for short, LQR), Sliding Mode Control (for short, SMC), and Fuzzy Logic Control (for short, FLC). Each controller is in a different control category; LQR is an optimal controller employed in both linear and nonlinear systems, SMC is a nonlinear controller commonly applied in a nonlinear system, and the Fuzzy controller is the intelligent controller which can be archived by user’s experiment or other learning techniques. Beside the three main controllers for stabilizing at the equilibrium point, the swing-up controller is designed based on energy-based method to bring the system at the initial position close to the equilibrium points. Finally, the performance and the validity of the three methods are verified through both simulation and experimental results.

Keywords: pendubot, linear quadratic regulator, input-output linearization, fuzzy logic control, comparison.

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