Tesis y Trabajos de Investigación PUCP

URI permanente para esta comunidadhttp://54.81.141.168/handle/123456789/6

El Repositorio Digital de Tesis y Trabajos de Investigación PUCP aporta al Repositorio Institucional con todos sus registros, organizados por grado: Doctorado, Maestría, Licenciatura y Bachillerato. Se actualiza permanentemente con las nuevas tesis y trabajos de investigación sustentados y autorizados, así como también con los que que fueron sustentados años atrás.
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20201

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Asesorsearch.filters.applied.operator.equals: search.filters.advisor.Cieza Aguirre, Oscar B.Autorsearch.filters.applied.operator.equals: search.filters.author.Huamán Loayza, Alex Smith

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    Energy-Based Control for the Cart-Pole System in Implicit Port-Hamiltonian Representation
    (Pontificia Universidad Católica del Perú, 2020-03-19) Huamán Loayza, Alex Smith; Reger, Johann; Cieza Aguirre, Oscar B.; Pérez Zúñiga, Carlos Gustavo
    This master thesis is devoted to the design, analysis, and experimental validation of an energy-based control strategy for the well-known benchmark cart-pole system in implicit Port-Hamiltonian (PH) representation. The control scheme performs two tasks: swingup and (local) stabilization. The swing-up controller is carried out on the basis of a generalized energy function and consists of bringing the pendulum trajectories from the lower (stable) position to a limit cycle (homoclinic orbit), which passes by the upright (unstable) position, as well as the cart trajectories to the desired point. The (local) stabilizing controller is designed under a novel algebraic Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique and ensures the upright (asymptotic) stabilization of the pendulum as well as the cart at a desired position. To illustrate the effectiveness of the proposed control scheme, this work presents simulations and real-time experiments considering physical damping, i.e., viscous friction. The results are additionally contrasted with another energy-based control strategy for the cart-pole system in explicit Euler-Lagrange (EL) representation.