State Machine Controller for Control of the Nonlinear Pendubot

Pendulum Robot (Pendubot) is made up of a DC motor that is linked to a physical rigid link (elbow) that is connected to a free spinning link (arm) that does not have any. The control goal is to keep the free link vertical while balancing the controller link (elbow) in either the extended position (both links are up) or the extended position (both links are down). A State Feedback Control is utilized at certain operational points to maintain the Up-Up or Down-Up posture. The controller can also use a state machine to transition between Down-Down positions and apply additional control rules to arrive at the desired place. In this paper, partial feedback linearization and PD controllers are the techniques utilized for this process using LabVIEW control design and simulation module, were used to control the state of a pendulum robot. This paper also uses a state-machine to switch between states. Moreover, another controller is used to push in either the extended position (both links are up) or the extended position (both links are down). A State Feedback Control is utilized at certain operational points to maintain the Up-Up or Down-Up posture. The controller can also use a state machine to transition between Down-Down positions and apply additional control rules to arrive at the desired place. In this paper, partial feedback linearization and PD controllers are the techniques utilized for this process using LabVIEW control design and simulation module, were used to control the state of a pendulum robot. This paper also uses a state-machine to switch between states. Moreover, another controller is used to push

Keywords:

Pendubot , Elbow , State Feedback , Feedback Linearization , State Machine