A Comparison of Control Schemes for Under-Actuated Pendubot System

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