Minh-Duy Tran ¹, Ngoc-Trung Nguyen ¹, Tuan-Anh Le ¹, Ngoc-Huy Huynh ¹, Quang-Truong Ninh ¹, Hoang-Anh-Vu Phi ¹, Khanh-Hung Bui ¹, Hoang-Chinh Tran ^{2, *}

¹ Ho Chi Minh City University of Technology and Education (HCMUTE)
Vo Van Ngan Street, No. 01, Ho Chi Minh City, Vietnam
² Cao Thang Technical College
Huynh Thuc Khang Street, No. 65, Ben Nghe Ward, District 1, Ho Chi Minh City
* Corresponding author. E-mail: tranhoangchinh@caothang.edu.vn

Robotica & Management, Vol. 29, No. 2, pp. 43-48
DOI: https://doi.org/10.24193/rm.2024.2.6

Abstract: Pendubot is a popular model in control engineering, often used in laboratories as a typical under-actuated system to study nonlinear control algorithms. It is an accessible model for learners and is widely chosen by laboratories for research purposes. Numerous control algorithms for balancing this system have been developed by researchers. Additionally, the task of swinging the system up from a static equilibrium position to a dynamic equilibrium position is necessary for the model to autonomously reach a suitable position for balance control. In this paper, the authors will compare simulation results of two swing-up control methods: the energy-based (EBM) method and the advanced sliding mode control (ASMC). This comparison of swing-up control algorithms will serve as a foundation for future experimental research on the model.

Keywords: LQR, Energy based method, sliding mode control, pendubot.

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