Virtual laboratory for sliding mode and PID control of rotary inverted pendulum

2010 ◽  
Vol 21 (3) ◽  
pp. 400-409 ◽  
Author(s):  
Metin Demirtas ◽  
Yusuf Altun ◽  
Ayhan Istanbullu
Keyword(s):  
Pid Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Virtual Laboratory ◽  
Rotary Inverted Pendulum

Real-Time Control of a Rotary Inverted Pendulum using Robust LQR-based ANFIS Controller

2018 ◽  
Vol 19 (3-4) ◽  
pp. 379-389 ◽  
Author(s):  
Ishan Chawla ◽  
Ashish Singla
Keyword(s):  
Fuzzy Inference System ◽  
Inverted Pendulum ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Inference System ◽  
Wide Range ◽  
Lqr Controller ◽  
Rotary Inverted Pendulum

AbstractFrom the last five decades, inverted pendulum (IP) has been considered as a benchmark problem in the control literature due to its inherit nature of instability, non-linearity and underactuation. Its applicability in wide range of practical systems, demands the need of a robust controller. It is found in the literature that wide range of controllers had been tested on this problem, out of which the most robust being sliding mode controller while the most optimal being linear quadratic regulator (LQR) controller. The former has a problem of discontinuity and chattering, while the latter lacks the property of robustness. To address the robustness issue in LQR controller, this paper proposes a novel robust LQR-based adaptive neural based fuzzy inference system controller, which is a hybrid of LQR and fuzzy inference system. The proposed controller is designed and implemented on rotary inverted pendulum. Further, to validate the robustness of proposed controller to parametric uncertainties, pendulum mass is varied. Simulation and experimental results show that as compared to LQR controller, the proposed controller is robust to variations in pendulum mass and has shown satisfactory performance.

scholarly journals Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 185079-185092
Author(s):  
Ngo Phong Nguyen ◽  
Hyondong Oh ◽  
Yoonsoo Kim ◽  
Jun Moon ◽  
Jun Yang ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Stabilization Control ◽  
Rotary Inverted Pendulum ◽  
Mode Stabilization

Closed-Loop Dynamic Analysis of a Rotary Inverted Pendulum for Control Design

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
Hashem Ashrafiuon ◽  
Alan M. Whitman
Keyword(s):  
Analytical Solution ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Approximate Analytical Solution ◽  
Multiple Scale ◽  
Horizontal Line ◽  
Weakly Nonlinear ◽  
Loop Dynamics ◽  
Rotary Inverted Pendulum

This paper presents an approximate analytical solution for the weakly nonlinear closed-loop dynamics of the sliding phase of a sliding mode controlled rotary inverted pendulum based on the multiple scale method. A locally stable nonlinear sliding mode control law with starting configurations above the horizontal line is presented for the rotary inverted pendulum. The analytical expressions derived from the nonlinear solution of the reduced-order closed-loop dynamics provide both qualitative and quantitative insight into the closed-loop response leading to proper selection of parameters that guarantee stabilization and improve controller performance. The approximate analytical solution is verified through comparison with the exact numerical solution. The control performance predicted by the analytical solution is experimentally demo.

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