Real-time study of robustness aspects of periodic controller for cart-inverted pendulum system

Author(s):  
A. Chakraborty ◽  
J. Dey
2013 ◽  
Vol 17 (1) ◽  
pp. 83
Author(s):  
Andrzej Turnau ◽  
Dariusz Marchewka ◽  
Maciej Rosół ◽  
Krzysztof Kołek ◽  
Przemysław Gorczyca ◽  
...  

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Amira Tiga ◽  
Chekib Ghorbel ◽  
Naceur Benhadj Braiek

This paper treats the problems of stability analysis and control synthesis of the switched inverted pendulum system with nonlinear/linear controllers. The proposed control strategy consists of switching between backstepping and linear state feedback controllers on swing-up and stabilization zones, respectively. First, the backstepping controller is implemented to guarantee the rapid convergence of the pendulum to the desired rod angle from the vertical position. Next, the state feedback is employed to stabilize and maintain the system on the upright position inherently unstable. Based on the quadratic Lyapunov approach, the switching between the two zones is analyzed in order to determine a sufficient domain in which the stability of the desired equilibrium point is justified. A real-time experimentation shows a reduction of 84% of the samples below the classical scheme when using only the backstepping control in the entire operating region. Furthermore, the reduction percentage has become 92% in comparison with the composite linear/linear controller.


2020 ◽  
Vol 10 (18) ◽  
pp. 6158
Author(s):  
Miguel Llama ◽  
Alejandro Flores ◽  
Ramon Garcia-Hernandez ◽  
Victor Santibañez

In this paper an adaptive fuzzy controller is proposed to solve the trajectory tracking problem of the inverted pendulum on a cart system. The designed algorithm is featured by not using any knowledge of the dynamic model and incorporating a full-state feedback. The stability of the closed-loop system is proven via the Lyapunov theory, and boundedness of the solutions is guaranteed. The proposed controller is heuristically tuned and its performance is tested via simulation and real-time experimentation. For this reason, a tuning method is investigated via evolutionary algorithms: particle swarm optimization, firefly algorithm and differential evolution in order to optimize the performance and verify which technique produces better results. First, a model-based simulation is carried out to improve the parameter tuning of the fuzzy systems, and then the results are transferred to real-time experiments. The optimization procedure is presented as well as the experimental results, which are also discussed.


2011 ◽  
Vol 84-85 ◽  
pp. 452-456 ◽  
Author(s):  
Rong Min Cao ◽  
Hui Xing Zhou ◽  
Rong Hua Ma

Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum is a new member of present similar devices, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range.In this paper, ironless permanent magnet synchronous linear motor driven inverted pendulum experiment platform is developed. The plant is hardware in the loop real time simulation control development system (Hardware-in-Loop, HIL)based on TMS320F2812DSP and MATLAB, it can use simple and efficient way to achieve linear motor driven inverted pendulum real-time control. Long design time for programming and debugging difficulty are avoided for traditional programming language. Control algorithm can be investigated directly on MATLAB/Simulink, and can be generated automatically control code to control single and double -stage inverted pendulum system. The real performance of the driven inverted pendulum is researched in this paper, the results showed that the controllability of the driven inverted pendulum is fine.


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