Final set adjustment using barrier function adaptation of signed-power controllers: an experimental study

Barrier function adaptation of signed-power-based controllers extends the theoretical abilities of the barrier function adaptation of sliding mode controllers so that the size of the positive invariant final set can be adjusted. This paper demonstrates that these theoretical results can be demonstrated in non-ideal settings by means of experiments in a Furuta pendulum. In particular, the ability to modify the achieved predefined ultimate bound and the advantages of bi-power-based controllers are experimentally verified. Furthermore, some insightful discussions and comparisons are presented which argue in favor of the practical benefits of barrier function adaptations of signed-power- and bi-power-based controllers.