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Victor G. Cardoso
Departamento de Engenharia Mecânica, Universidade Federal de Pernambuco, PE
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Thiago F. F. de Souza
Departamento de Engenharia Mecânica, Universidade Federal de Pernambuco, PE
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Pedro M. G. del Foyo
Departamento de Engenharia Mecânica, Universidade Federal de Pernambuco, PE
Keywords:
Flywheel Inverted Pendulum, Swing-up Control, Energy Control, Balance Control
Abstract
Inverted pendulums are an important class of underactuated systems. This paper presents a flywheel inverted pendulum (FIP) design to evaluate the performance of Swing- up and Balance control algorithms. The Swing-up algorithms evaluated are based on Energy Control strategies. The rise time and an estimation of the energy spent on this task were used as assessment metrics. Two closed loops with PID controllers were implemented to perform the Balance control of the FIP. The analyses were carried out based on the data generated from simulations and experiments. The results showed that the Maximum Energy algorithm was able to perform the swing-up with less time and lower energy consumption. Additionally, it resulted in lower errors during the execution of the Balance control, since the system conditions provided by this swing-up strategy contributed to the robustness of the system.
