Robust Energy Shaping Control of an Underactuated Inverted Pendulum

摘要

Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is hindered by the need to analytically solve a set of partial differential equations (PDEs), which constitutes a major obstacle. In this paper, a rotary inverted pendulum system is considered, and an interconnection and damping assignment passivity-based control (IDA-PBC) scheme is developed by deriving concise analytical solutions to the kinetic and potential energy PDEs. Furthermore, a novel robust term is incorporated into the control law to compensate for a specific class of disturbances that has not been addressed within the existing IDA-PBC literature. The effectiveness of the proposed method is validated through numerical simulations, demonstrating satisfactory control performance.