Stabilisation of a rotary inverted pendulum system with double-PID and LQR control: Experimental verification

Tang, Teng Fong; Chong, Shin Horng; Pang, Kee Kiat

doi:10.1504/ijaac.2020.10019766

Cited by 2 publications

(2 citation statements)

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“…Besides, these methods are compared with the classical LOR and LQG techniques which confirm better performance of the proposed methods. In [30], an LQR control scheme decoupled PID control technique is designed in order to stability and balancing control of RIP systems. In [31], a robust LQR controller is presented based on the adaptive fuzzy logic control technique mixed with neural network in the target of stability and balancing control of RIP system.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

et al. 2022

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In this study, an adaptive proportional-integral-derivative (PID) sliding mode control technique combined with the super-twisting algorithm is planned for the stabilization of rotational inverted pendulum in the appearance of exterior perturbation. The state-space model of rotational inverted pendulum in the existence of exterior disturbance is attained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of the considered underactuated control system. The upper bounds of perturbation are presumed to be unknown; consequently, the adaptive control procedure is taken into account to approximate the uncertain bounds of external disturbances. The stability control of rotational inverted pendulum system is verified by means of the Lyapunov stability theory. In order to validate the accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing scheme. Finally, the experimental results are implemented to show the success of the designed method.INDEX TERMS Robust control; adaptive tuning; underactuated systems; sliding mode control; inverted pendulum.

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Section: Introductionmentioning

confidence: 99%

Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

et al. 2022

View full text Add to dashboard Cite

show abstract

“…Besides, these methods are compared with the classical LOR and LQG techniques which confirm better performance of the proposed methods. In [27], an LQR control scheme decoupled PID control technique is designed in order to stability and balancing control of RIP systems. In [28], a robust LQR controller is presented based on the adaptive fuzzy logic control technique mixed with neural network in the target of stability and balancing control of RIP system.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Mofid

Alattas

Mobayen

2021

Preprint

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In this paper, an adaptive proportional-integral-derivative (PID) sliding mode control method combined with super-twisting algorithm is designed for the stabilization control of rotary inverted pendulum system in the appearance of exterior perturbation. The state-space model of rotary inverted pendulum in the presence of exterior disturbance is obtained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of this underactuated control system. The upper bounds of perturbation are presumed to be unknown; accordingly, the adaptive control procedure is taken to approximate the uncertain bound of the external disturbances. The stability control of rotary inverted pendulum system is proved by means of the Lyapunov stability theory. In order to validate accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing method. Moreover, experimental results are implemented to show the success of the proposed method.

show abstract

Stabilisation of a rotary inverted pendulum system with double-PID and LQR control: Experimental verification

Cited by 2 publications

References 0 publications

Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

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