An off-line fuzzy backstepping controller for rotary inverted pendulum system

This paper discusses the stabilising problems of a nonlinear and multivariate underactuated systems, also known as Inverted Pendulum (IP) systems. The attitude control of a nonlinear IP system is thus considered. One of the most important techniques, a Linear Quadratic Regulator (LQR), is used in this paper to design a controller for an IP system. The structure of LQR parameters is based on weight matrices, and the adjustment of the weight matrices parameters is the most challenging part of this, being normally computed by repeating trials and adjusting based on successful or unsuccessful outcomes. The difficulty in guessing the optimum matrices and achieving automatic adjustment of the weighting matrices is mitigated by the introduction of a metaheuristic algorithm to investigate the optimal solution; this is based on a swarm of particles moving in a virtual space. The proposed approach successfully stabilised the IP system in the upright position and removed perturbations; the simulated results thus showed satisfactory performance of the suggested control method.

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Optimal tuning of a Linear Quadratic Regulator for Position Control using Particle Swarm Optimisation

Kamil

Makki

Umran

2020

IOP Conf. Ser.: Mater. Sci. Eng.

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Nonlinear stabilizing control of a rotary double inverted pendulum: a modified backstepping approach

Jabbar

Malik

Sheikh

2016

Transactions of the Institute of Measurement and Control

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Modified backstepping control is proposed for an under-actuated rotary double inverted pendulum. The system has actuated rotary base joint with which two unactuated links are attached. The proposed control design is a three step process for de-coupled system model. In the first stage, a backstepping controller is designed for each of the active and passive joints. In the second stage, compensation is introduced in the respective control efforts to cater for uncertain terms based on Lyapunov function for each joint. Finally, the controllers obtained in the two stages are combined to form a total control law. The performance of the proposed control scheme is evaluated by convergence analysis and simulations.

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An off-line fuzzy backstepping controller for rotary inverted pendulum system

Cited by 2 publications

References 5 publications

Optimal tuning of a Linear Quadratic Regulator for Position Control using Particle Swarm Optimisation

Optimal tuning of a Linear Quadratic Regulator for Position Control using Particle Swarm Optimisation

Nonlinear stabilizing control of a rotary double inverted pendulum: a modified backstepping approach

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