Nonlinear Control Strategies for a Pendubot System

Abstract

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.