Implementable Discrete-Time $L_{1}$ Adaptive Control for a Cart Inverted Pendulum System

2019 ◽  
Author(s):  
Mahmoud Elnaggar ◽  
Ahmed Lasheen
Keyword(s):  
Adaptive Control ◽  
Discrete Time ◽  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

2019 ◽  
pp. 014233121986777
Author(s):  
Fatih Adıgüzel ◽  
Yaprak Yalçın
Keyword(s):  
Discrete Time ◽  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Backstepping Control ◽  
Disturbance Attenuation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Backstepping Controller

A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

scholarly journals Multirate Output Feedback with Discrete Time Sliding Mode Control for Inverted Pendulum System

2015 ◽  
Vol 76 ◽  
pp. 290-295 ◽  
Author(s):  
R. Ngadengon ◽  
Y.M. Sam ◽  
J.H.S. Osman ◽  
R. Tomari ◽  
W.N. Wan Zakaria
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Output Feedback ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Pendulum System ◽  
Mode Control ◽  
Inverted Pendulum System

Design and implementation of adaptive control logic for cart-inverted pendulum system

2018 ◽  
Vol 233 (2) ◽  
pp. 164-178 ◽  
Author(s):  
Sandeep Hanwate ◽  
Yogesh V Hote ◽  
Akshit Budhraja
Keyword(s):  
Adaptive Control ◽  
Inverted Pendulum ◽  
Control Logic ◽  
External Disturbances ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Simulation Based ◽  
Modelling Uncertainties ◽  
Individual Candidate ◽  
Supervisory Control System

In this article, an adaptive control logic is proposed to serve as a supervisory control system sufficient to curb the adverse effects due to modelling uncertainties and external disturbances. The control logic belongs to the class of adaptive control methodologies. The attractive attribute of this technique is that only the superior features of each individual candidate controller are obtained by applying appropriate weight to these controllers. In order to prove its effectiveness and applicability, the benchmark problem for stabilization of cart-inverted pendulum system is carried out using this technique. The system performance is tried against that with each individual candidate controllers existing techniques. In addition, the simulation-based analysis is strengthened by analysing the performance of a real-time cart-inverted pendulum system setup, stabilized using the proposed control logic.

Based on T-S Fuzzy Classification of the Double Inverted Pendulum Multi Mode Adaptive Control

2014 ◽  
Vol 902 ◽  
pp. 300-305
Author(s):  
Ai Lian Li ◽  
Hong Yu Qi ◽  
Li Liang
Keyword(s):  
Adaptive Control ◽  
Inverted Pendulum ◽  
Processing System ◽  
Fuzzy Classification ◽  
Feedback Gain ◽  
Successful Implementation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Multiple Variables ◽  
Multi Mode

Double Inverted pendulum as an important object of study on robotics and aviation field, is also a major platform for teaching and scientific research.Usually double Inverted pendulum modeling is usually will be linearized processing system, ignoring the effect of the angle of system. But the realization of double inverted pendulum is a nonlinear system, the angle affect the stability control. From the actual situation of double Inverted pendulum motion, double Inverted pendulum system of the input space is divided into 9 sub-space, by T-S fuzzy and feedback gain matrix to select the corresponding state equation, making the system more close to its dynamic performance. The multi mode adaptive control and T-S fuzzy method of combining the successful implementation of double inverted pendulum system simulation and real-time control.The number of rules they use far less than Mamdani fuzzy, but also successfully resolved the fuzzy control algorithm due to the presence of multiple variables and the resulting "rule explosion problem".

scholarly journals DISCRETE TIME MODEL PREDICTIVE CONTROL APPROACH FOR INVERTED PENDULUM SYSTEM WITH INPUT CONSTRAINTS

2015 ◽  
pp. 186-191
Author(s):  
HARSHITA JOSHI ◽  
NIMMY PAULOSE
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Discrete Time ◽  
Process Model ◽  
Inverted Pendulum ◽  
Time Model ◽  
Pendulum System ◽  
Control Approach ◽  
Inverted Pendulum System ◽  
Literature Selection

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The objective of the MPC-controller is to drive the system towards pre-calculated trajectories that move the system from one reference point to another.Quadratic programming is used for optimization of objective function (with and without constraints).

Sign in / Sign up

Export Citation Format

Share Document