Integrating disturbance handling into control strategies for swing-up and stabilization of rotary inverted pendulum

• Autorzy: Nguyen Thi-Van-Anh , Phan Ma-Sieu , Dao Quy-Thinh

Identyfikatory

DOI

10.14313/jamris‐2025‐002

• Języki publikacji: EN

Abstrakty

EN

The rotary inverted pendulum (RIP) is an underactuated mechanical system with fewer input controls than output controls. The application of the RIP model is to investigate the control of nonlinear systems, but is useful in other fields as well, as it is simple to analyze the dynamics and test despite its high nonlinearity. The two fundamental control issues in the RIP are achieving the desired balance position of the pendulum, and maintaining stability. The Energy-based swing-up-controller is used for the model to bring the pendulum to an upright position. Regarding the issue of stability control, the Linear Quadratic Regulator (LQR) linear controller is well-known for its effectiveness and stability, but it loses stability in the presence of disturbance. The sliding mode controller (SMC) is able to resist the impact of disturbances affecting the model. Therefore, this paper combines both controllers to address the balancing stability problem of the RIP system. The LQR-based SMC controller uses the LQR controller as the basic controller to stabilize the pendulum, and employs the SMC controller to resist the impact of disturbance. In addition, it is necessary to accurately estimate the velocity of the pendulum, and arm in order to apply them to the real model. This paper designs an observer to solve this problem. The simulation results show that the proposed controller performs well in the presence of input disturbance.

Słowa kluczowe

EN

rotary inverted pendulum; stabilization; swing-up; LQR controller; sliding mode controller; LQR-based SMC controller

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2025
• Tom: Vol. 19, No. 1
• Strony: 7--16
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Nguyen Thi-Van-Anh

• Hanoi University of Science and Technology, 11615 Hanoi, Vietnam

• https://orcid.org/0000-0002-5290-5296

autor

Phan Ma-Sieu

• Hanoi University of Science and Technology, 11615 Hanoi, Vietnam

autor

Dao Quy-Thinh

• Hanoi University of Science and Technology, 11615 Hanoi, Vietnam

• https://orcid.org/0000-0001-7615-0361

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).