Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback

Zhang, Xinrong; Ma, Jie; Lin, Lian Dong; Wang, Lele

doi:10.1109/icisce.2018.00205

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…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.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time.

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Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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“…In fact, the essential shortcoming is to pivot the pendulum from the downward vertical position and keeping the cart in a stable state. However, several control strategies were considered for the sake of better stabilizing and balancing the entire pendulum system, such as energy control [2], event-based control method [3], adaptive control [4], and sliding mode control [5,6,7].…”

Section: Introductionmentioning

confidence: 99%

Adaptive and Robust Second Order Sliding Mode Controller Dedicated to Nonlinear Uncertain Pendulum Application System

Dhouibi¹,

Ghabi²,

Selmi³

2019

EJERS

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The research work presented within this paper deals with an innovative second-order sliding mode control (SOSMC) allocated to adaptive gain and associated with nonlinear systems subject to unknown but bounded uncertainties. The derived controller guarantees the control gain dynamical adaptation for the sake of counteracting the system’s uncertainties and to mitigate the chattering phenomenon. The Lyapunov method is also used to analyses the stability of any closed loop system (CLS) within a finite-time under bounded uncertainties assumptions. To assess how effective is the approach considered within this paper, the adaptive controller has been carefully studied on a benchmark of nonlinear systems on a damped overturned pendulum.

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Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback

Cited by 2 publications

References 9 publications

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

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

Adaptive and Robust Second Order Sliding Mode Controller Dedicated to Nonlinear Uncertain Pendulum Application System

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