Implementing Backstepping Technique for Pendubot System Control: A Fusion of Simulation and Experimentation

Abstract

In this paper, the backstepping nonlinear control algorithm with the Vietnamese name “cuốn chiếu” is proposed to control the Pendubot nonlinear system. Pendubot is a two-DOF underactuated system with a single input and multiple outputs, with high nonlinearity and an uncomplicated mechanical model. In this study, the authors propose a backstepping algorithm to control the Pendubot system at the TOP position by simulation and experiment. In addition, the stability analysis for the whole system using the Lyapunov method is also presented in detail in this article. After completing the construction of the controller and stability analysis, the simulation results using MATLAB/Simulink software and experiments on the experimental setup are presented by the authors to evaluate the quality of the controller. The results of applying the map to simulation and experimental systems show stability during Pendubot operation with many different tasks including stability at a balanced position and following given trajectories.