Hybrid energy-shaping swing-up and LQR balance controller for a Furuta rotary inverted pendulum. More...

#include <inverted_pendulum_controller.hpp>

Inheritance diagram for inverted_pendulum_controller::InvertedPendulumController:

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Collaboration diagram for inverted_pendulum_controller::InvertedPendulumController:

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Public Member Functions
controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override

bool	is_balancing () const
	Returns true if currently in LQR balancing regime.

Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final

CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_reference_interfaces () final

CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final

CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)

CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()

virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &namespace_="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true))

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const

CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

Additional Inherited Members
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

unsigned int	update_rate_ = 0

Detailed Description

Hybrid energy-shaping swing-up and LQR balance controller for a Furuta rotary inverted pendulum.

This controller orchestrates two operating regimes:

Non-linear Energy Shaping (Swing-up): Bang-bang energy pump driving the pendulum mechanical energy toward upright potential energy, combined with bounded arm-centering PD.
Full-State LQR (Balancing): Regulates the arm position, arm velocity, pendulum angle, and pendulum velocity around the unstable upright equilibrium (q2 = 0).

Transitions between swing-up and balance are protected by candidate angular windows, actuator command feasibility gating, soft-start ramp blending, and fall hysteresis.

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration inverted_pendulum_controller::InvertedPendulumController::command_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns: configuration of command interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ on_init()

controller_interface::CallbackReturn inverted_pendulum_controller::InvertedPendulumController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration inverted_pendulum_controller::InvertedPendulumController::state_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interface_ member.

Returns: configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type inverted_pendulum_controller::InvertedPendulumController::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ControllerInterfaceBase.

The documentation for this class was generated from the following files:

zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/include/inverted_pendulum_controller/inverted_pendulum_controller.hpp
zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/src/inverted_pendulum_controller.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ on_init()

◆ state_interface_configuration()

◆ update()