Nonlinear Control Strategies for a Pendubot System
![Thumbnail](/bitstream/handle/10.18687/20210101_590/FP590.pdf.jpg?sequence=6&isAllowed=y)
View/ Open
Date
2021-07Author
Bello-Robles, Juan Carlos
Suarez, Oscar J.
Pardo Garcia, Aldo
Metadata
Show full item recordAbstract
Nonlinear plants arise naturally in numerous engineering and natural systems, including robotics and biological systems, mechanical and automotive control, industrial process control, among others. The Pendubot is a nonlinear plant with two links used for research in nonlinear control and for education to teach some concepts as non-linear dynamics, robotics, and nonlinear control strategies. This paper presents simulation results for trajectory tracking using two different control strategies Takagi-Sugeno Controller and Sliding Mode Controller for a Pendubot System. The proposed controllers are used to track the response of angle q2. To examine the robustness of the proposed controller, simulations using Matlab/Simulink prove the validity of this control method.