Design of Robust Energy Control for Cart - Inverted Pendulum
نویسنده
چکیده
The objective is to design a complete control system for the Swing-up and Stabilizing Control of cart inverted pendulum. In particular, this work outlines the effectiveness of a particular Swing-up method based on feedback linearization and Total Energy Shaping (TES) considerations. The basic idea to solve the problem of driving the pendulum from down or any to upright position has been always to inject the necessary energy to do it. The power of modern state-space techniques for the analysis and control of MIMO systems is also investigated and state-feedback controller is employed for stabilizing the inverted pendulum. Thus, the stabilization approach consists in a first step that stabilizes the down subsystem via kinetic energy shaping, and a second step extends the solution to the upper subsystem via forwarding technique. And the robustness of this control method is confirmed by simulation under the influence of external rod disturbances.
منابع مشابه
Robust Control of an Inverted Pendulum on a Cart
This paper investigates the design and analysis of three controllers used to stabilize an inverted pendulum on a cart. This is accomplished by decomposing each control algorithm into two separate phases: swing-up control and stabilization control. A classical, H2, and H∞ design are each considered to stabilize a nominal linearized model of the inverted pendulum on a cart in the upward vertical ...
متن کاملRobust Adaptive Backstepping Control of Inverted Pendulum on Cart System
In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...
متن کاملPractical Swing-up Controller Design for a Cart-type Single Inverted Pendulum Having a Serial Second Pendulum as Parasitic Dynamics
This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the motion of the second pendulum works as st...
متن کاملMINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
متن کاملDesign of robust fuzzy Sliding-Mode control for a class of the Takagi-Sugeno uncertain fuzzy systems using scalar Sign function
This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...
متن کامل