Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller

Abstract

Balancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many control algorithms fail or ineffectively control the rotary double inverted pendulum system. In this article, mixed sensitivity H1 control is proposed to balance the rotary double inverted pendulum system. The controller is proposed to ensure the robust stability and enhance the time domain performance of the system under uncertainties and disturbances. Structure of the system, dynamics model and controller synthesis are presented. For performance evaluation, the proposed mixed sensitivity H1 controller is compared with linear quadratic regulator from both simulation and experiment on the rotary double inverted pendulum system. The results show high performance of the proposed controller on the rotary double inverted pendulum system with model uncertainties and external disturbances.

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

“…This section shows the experimental results of the combined sensitivity of our controller in comparison with LQR [28]. The platform of the RIP system is shown in Figure 12.…”

“…In this study, we realised the occasion-based procedures to control a rotary pendulum, for both swinging up and balancing out its arm [27]. Swinging up a rotary pendulum is an old and testing issue in the field of nonlinear control research [28][29][30]. The rest of this paper is organised as follows: The RIP dynamics and its state space models are discussed in Sections 4-6.…”

Robust H∞-based control of ARAS-diamond: A vitrectomy eye surgery robot

“…Several successful linear robust controllers have been proposed in the literature to mitigate kinematics and dynamics uncertainties effects on linear-based controllers. [34][35][36] A robustness study among a modified fractional order proportional plus integral and derivative (FOPID) versus H 1 and l-synthesis controllers is reported in Seyedtabaii. 37 In Bataleblu et al, 38 a robust H 1 controller was simulated in the presence of modeling uncertainty and actuator saturation without implementation results.…”

Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

“…The main control objective is to bring and stabilize the pendulum at the upper unstable equilibrium position. Different types of inverted pendulums exist, offering many interesting control challenges, such as the cart inverted pendulum (Prasad et al, 2014), wheeled inverted pendulum (Huang and Yeh, 2019;Kim and Kwon, 2017), and rotary inverted pendulum (Sanjeewa and Parnichkun, 2019). The inverted pendulum also exhibits many practical applications such as the wheeled self-balancing vehicle (Dai et al, 2015) and robot system (Bae and Oh, 2018;Kajita et al, 2010;Sprenger et al, 1998).…”

“…In the context of robustness and disturbance attenuation, H ∞ control is intensively discussed (e.g. Kumar and Kanthalakshmi (2018) and Sanjeewa and Parnichkun (2019)). In this study, a constrained H ∞ control scheme is considered to deal with hard constraints and a linear matrix inequality (LMI) technique is used to solve the statefeedback constrained H ∞ control scheme.…”