Pendubot Robust Stabilization Based on Attractive Ellipsoid Method Using Electromechanical Model

Abstract

In this paper, the problem of robust stabilizing pendular-type underactuated systems is addressed. In this case, the dynamic model of the full electromechanical system is considered into the control design. This is, the complete dynamic model is integrated by the mechanical part and the actuators model, which are assumed to be dc motors. Therefore, the state-space representation becomes control-affine, and the obtained control signal is directly applied to the dc motors without any other consideration. One of the main problems in stabilizing high-order pendular type underactuated systems in practice, is the lack of robustness of the controller based on linear model as the number of links grows. Thus, disturbances and uncertainties represent a big problem for these systems. For this reason, Attractive Ellipsoid Method is used to accomplish robust stabilization of pendular type underactuated systems partially actuated by dc motors. This approach considers the nonlinear model instead of the common quasi-linear one. Results are tested in numerical simulation for the electromechanical Pendubot.