Stabilization of the cart pole system: by sliding mode control

Aguilar-Ibáñez, Carlos; Mendoza-Mendoza, Julio Alberto; Dávila, Jorge

doi:10.1007/s11071-014-1624-6

Cited by 20 publications

(4 citation statements)

References 44 publications

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“…• Intentional underactuated design (the Acrobot [Spong, 1995], the Pendubot [M. Zhang, 2002], the cart-pole [Aguilar-Ibanez, Mendoza-Mendoza, and Davila, 2014], or the translational oscillation with rotational actuator (TORA) [Gao et al, 2013])…”

Section: Underactuated Systemsmentioning

confidence: 99%

Nonlinear Attitude Control Of Underactuated Spacecraft

Frias¹

2021

Preprint

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This dissertation investigates the nonlinear control of the attitude for an underactuated rigid-body spacecraft system in the body-orbital and inertial frames. The problem involving the stabilization of the body-orbital attitude of an underactuated output-feedback system is examined. Using sliding mode control in conjunction with finite-time nonlinear observer, a novel observer-based control law is rigorously analyzed and proven to achieve attitude convergence. Under time-varying disturbances, inertia matrix uncertainties, and high initial errors, the proposed novel law achieves attitude convergence for three-axis stability and ultimate boundedness within 5 degrees and 0.01 deg/s, for attitude error norm and angular velocity norm, respectively. Next, the attitude control problem is rigorously analyzed in the inertial frame, where the underactuated rigid-body spacecraft system equations of motion are highly nonlinear, and the linearized equations of motion are not controllable. To this end, a generalized velocity-free time-varying state feedback controller is developed to achieve globally exponential stability with respect to the homogenous norm and proven to provide ultimate boundedness of all signals with 5 degrees attitude error norm and 0.5 rad/s angular velocity error norm. Finally, the inertial frame attitude stabilization problem is treated as an optimal control problem. For this case, the Legendre pseudospectral method is used to discretized the spacecraft dynamics into Legendre-Gauss-Lobatto (LGL) node points, where the Lagrange polynomial interpolation is applied to obtain a suitable candidate optimal control sequence. Model predictive control is used to implement the optimal control in predefined control windows sequentially to achieve three-axis stability for a rest-to-rest maneuver within 0.3 orbit.

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Section: Underactuated Systemsmentioning

confidence: 99%

Nonlinear Attitude Control Of Underactuated Spacecraft

Frias¹

2021

Preprint

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“…Using equation (23) and C 2 1 (s) = K 2 p1 + (K 2 i1 =s) + K 2 d1 s, equation (26) can be written as follows…”

Section: Dynamics Of Cipsmentioning

confidence: 99%

“…The first part stabilizes the nominal plant and the second one operates in a manner to reject modelling uncertainties incurred in the modelled CIPS. Likewise, a method to stabilize non-linear CIPS and ball beam system using adaptive control based on Takagi-Sugeno fuzzy approach is presented by Bhushan et al 25 To stabilize pendulum in the upper half plane, a control strategy designed using proportional–derivative (PD) controller and twisting-like algorithm is given by Aguilar-Ibáñez et al 26 and Geva and Sitte 27 made a comparative study between the use of unsupervised and supervised learning methods, in the light of neural network–based control schemes for CIPS. Patnaik and Behera 28 presented a multi-objective genetic algorithm (MOGA)-based optimization for linear quadratic regulator (LQR), H ∞ and mixed H2/H ∞ controller design to stabilize inverted pendulum.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of adaptive control logic for cart-inverted pendulum system

Hanwate

Hote

Budhraja

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an adaptive control logic is proposed to serve as a supervisory control system sufficient to curb the adverse effects due to modelling uncertainties and external disturbances. The control logic belongs to the class of adaptive control methodologies. The attractive attribute of this technique is that only the superior features of each individual candidate controller are obtained by applying appropriate weight to these controllers. In order to prove its effectiveness and applicability, the benchmark problem for stabilization of cart-inverted pendulum system is carried out using this technique. The system performance is tried against that with each individual candidate controllers existing techniques. In addition, the simulation-based analysis is strengthened by analysing the performance of a real-time cart-inverted pendulum system setup, stabilized using the proposed control logic.

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“…Her biri kendine özgü özelliklere ve uygulamalara sahip çeşitli ters sarkaç sistemleri vardır. Araba üzerindeki ters sarkaç çeşidinde sistem, arabaya bağlı serbest bir direk ile bir ray üzerinde bir arabadan oluşur [1,2]. Amaç, direği dikey konumda dengede tutmak için arabanın hareketini kontrol etmektir.…”

Section: Introductionunclassified

Eksik tahrikli döner ters sarkaç sisteminin geribeslemeli doğrusallaştırma tabanlı kademeli kontrolü

Kocaoğlu¹

2023

JIENS

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Çevrimiçi mevcutKademeli kontrol, özellikle bozanetkenlere karşı performansı iyileştirmek için tercih edilen çok döngülü bir kontrol yapısıdır. Genellikle, iç döngü kontrolü (bağımlı kontrolör) ve dış döngü kontrolünden (ana kontrolör) oluşan ve bağımlı kontrolörün ayar noktasının, bu ana kontrolör tarafından ayarlandığı bir geri beslemeli kontroldür. Bu çalışmada, üzerine etki eden yerçekimi kuvvetleri, Coriolis ve merkezcil kuvvetlerden dolayı doğrusal olmayan dinamiğe sahip döner ters sarkaç sisteminin denetlenmesinde kademeli kontrol kullanılmıştır. Burada, bağımlı kontrolcü için geribeslemeli doğrusallaştırma tabanlı oransal-türevsel (PD) denetleyici ve ana kontrolcü içinse doğrusal karesel düzenleyici (DKD) kullanılmıştır. İç döngüde kullanılan geri beslemeli doğrusallaştırmanın bağıl derecesi ikidir ve kararsız sıfır dinamiklere sahiptir. Bu kararsız dinamikler ana kontrolcü tasarımında ele alınmış ve kademeli kontrolün kararlı olması sağlanmıştır. Ters sarkacın doğrusal olmayan dinamik denkleminde sarkaca uygulanabilen tork bozanetken olarak formüle edilmiştir. Önerilen geribeslemeli doğrusallaştırma tabanlı kademeli denetleyici, bozan etken varlığında iki farklı denetleyici ile karşılaştırılmış ve daha iyi performans sergilediği gösterilmiştir.2023 JIENS Tüm hakları saklıdır.

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Stabilization of the cart pole system: by sliding mode control

Cited by 20 publications

References 44 publications

Nonlinear Attitude Control Of Underactuated Spacecraft

Nonlinear Attitude Control Of Underactuated Spacecraft

Design and implementation of adaptive control logic for cart-inverted pendulum system

Eksik tahrikli döner ters sarkaç sisteminin geribeslemeli doğrusallaştırma tabanlı kademeli kontrolü

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