Linear Control Schemes for Rotary Double Inverted Pendulum

,; Vo, Minh-Duy; Nguyen, Van-Dat; ,; Huynh, Dac-Hoa; ,; Phan, Trung-Hieu-Duy; ,; Nguyen, Tuan-Nam; ,; Dinh, Nguyen-Anh-Khoa; ,; Tran, Minh-Duc; ,; Vo, Minh-Tai; ,

doi:10.24193/rm.2023.1.8

Cited by 2 publications

(3 citation statements)

References 17 publications

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“…We utilize an experimental RIP in our laboratory, which is inferred in [5]. RIP communicates with the computer via STM32F4 board as shown in Fig.…”

Section: Resultsmentioning

confidence: 99%

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Adaptive-PID Experimental STM32F4 Controller for Rotary Inverted Pendulum

Pham,

Tran,

Nguyen

et al. 2023

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Rotary inverted pendulum (RIP) is a classical model of control engineering. Paper deals with a PID-adaptive structure which is based on structure of neuron to train Kp, Ki, Kd through operation. In simulation, our adaptive controller is proven to work in larger range than classical PID controller. Through experimental model using STM32F4, we prove vibration of system under adaptive-PID is smaller than under classical PID structure. Then, combination of neuron network (NN) and PID control can be used as simple structure for single-input multi output (SIMO) systems which are similar to RIP.

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“…We utilize an experimental RIP in our laboratory, which is inferred in [5]. RIP communicates with the computer via STM32F4 board as shown in Fig.…”

Section: Resultsmentioning

confidence: 99%

“…It is composed of neurons connected by links. Each link is companied by a weight, which characterizes excitability or inhibition between neurons[5]. Fig.3describes a diagram of an artificial neuron, where x1, x2,…xm is the signal to neurons and w1, w2,…wm is the weight of neurons.…”

mentioning

confidence: 99%

Adaptive-PID Experimental STM32F4 Controller for Rotary Inverted Pendulum

Pham,

Tran,

Nguyen

et al. 2023

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“…In this paper, we validate the proposed control scheme on this Furuta pendulum system, which is available at Control System Laboratory, HCMUTE. Many researches have been done on this system such that back-stepping control scheme [17], LQR technique [18], SMC [19], IOFL [20], PID-Neural controller [21].…”

Section: Introductionmentioning

confidence: 99%

Input-Output Feedback Linearization Associates with Linear Quadratic Regulator for Stabilization Control of Furuta Pendulum System

2023

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Manuscript provides a key technology, namely Input-Output Feedback Linearization Associates with Linear Quadratic Regulator (for short, IOFLALQR). The objective of this research is to study the possibility of integrating two control strategies, which includes input-output feedback linearization technique (for short, IOFL) and linear quadratic regulator controller (for short, LQR), for stabilization control of Furuta pendulum system. Furuta pendulum system belongs to the group of under-actuated robot systems. In this work, structure of IOFLALQR, control implementation, comparison of IOFLALQR and conventional LQR are adequately studied and discussed. Simulation is completed in MATLAB/Simulink environment and experiment is done on real-time experimental setup. Numerical simulation and experimental results show that the IOFLALQR are implemented on Furuta pendulum successfully. Besides, results have been drawn for demonstrating IOFLALQR better than another classical method.

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Linear Control Schemes for Rotary Double Inverted Pendulum

Cited by 2 publications

References 17 publications

Adaptive-PID Experimental STM32F4 Controller for Rotary Inverted Pendulum

Adaptive-PID Experimental STM32F4 Controller for Rotary Inverted Pendulum

Input-Output Feedback Linearization Associates with Linear Quadratic Regulator for Stabilization Control of Furuta Pendulum System

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