scholarly journals A Comparative study of controllers for stabilizing a Rotary Inverted Pendulum

2014 ◽  
Vol 3 (1/2) ◽  
pp. 1-13 ◽  
Author(s):  
Velchuri Sirisha ◽  
Anjali S. Junghare
Keyword(s):  
Comparative Study ◽  
Inverted Pendulum ◽  
Rotary Inverted Pendulum

scholarly journals A real-time HIL control system on rotary inverted pendulum hardware platform based on double deep Q-network

2021 ◽  
Vol 54 (3-4) ◽  
pp. 417-428
Author(s):  
Yanyan Dai ◽  
KiDong Lee ◽  
SukGyu Lee
Keyword(s):  
Control System ◽  
Reinforcement Learning ◽  
Inverted Pendulum ◽  
Learning Algorithm ◽  
Deep Understanding ◽  
Control Engineering ◽  
Experience Replay ◽  
Real Hardware ◽  
Rotary Inverted Pendulum ◽  
Reinforcement Learning Algorithm

For real applications, rotary inverted pendulum systems have been known as the basic model in nonlinear control systems. If researchers have no deep understanding of control, it is difficult to control a rotary inverted pendulum platform using classic control engineering models, as shown in section 2.1. Therefore, without classic control theory, this paper controls the platform by training and testing reinforcement learning algorithm. Many recent achievements in reinforcement learning (RL) have become possible, but there is a lack of research to quickly test high-frequency RL algorithms using real hardware environment. In this paper, we propose a real-time Hardware-in-the-loop (HIL) control system to train and test the deep reinforcement learning algorithm from simulation to real hardware implementation. The Double Deep Q-Network (DDQN) with prioritized experience replay reinforcement learning algorithm, without a deep understanding of classical control engineering, is used to implement the agent. For the real experiment, to swing up the rotary inverted pendulum and make the pendulum smoothly move, we define 21 actions to swing up and balance the pendulum. Comparing Deep Q-Network (DQN), the DDQN with prioritized experience replay algorithm removes the overestimate of Q value and decreases the training time. Finally, this paper shows the experiment results with comparisons of classic control theory and different reinforcement learning algorithms.

A Comparative Study on Intelligent & Adaptive Control Techniques on a Nonlinear Inverted Pendulum Cart Mechanism

2021 ◽  
Author(s):  
Akhil Krishnan ◽  
Parvathy Krishna. U ◽  
Mahipal Bukya ◽  
Princy Randhawa ◽  
Dimitris Piromalis
Keyword(s):  
Adaptive Control ◽  
Comparative Study ◽  
Inverted Pendulum ◽  
Control Techniques

scholarly journals Analytical and Experimental Analyses of Nonlinear Vibrations in a Rotary Inverted Pendulum

2021 ◽  
Author(s):  
Mohammadjavad Rahimi dolatabad ◽  
Abdolreza Pasharavesh ◽  
Amir Ali Akbar Khayyat
Keyword(s):  
Analytical Solution ◽  
Numerical Solution ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Multiple Scales ◽  
Nonlinear Oscillations ◽  
Wide Frequency Range ◽  
Perturbative Method ◽  
Full State Feedback ◽  
Rotary Inverted Pendulum

Abstract Gaining insight into possible vibratory responses of dynamical systems around their stable equilibria is an essential step, which must be taken before their design and application. The results of such a study can significantly help prevent instability in closed-loop stabilized systems through avoiding the excitation of the system in the neighborhood of its resonance. This paper investigates nonlinear oscillations of a Rotary Inverted Pendulum (RIP) with a full-state feedback controller. Lagrange’s equations are employed to derive an accurate 2-DoF mathematical model, whose parameter values are extracted by both the measurement and 3D modeling of the real system components. Although the governing equations of a 2-DoF nonlinear system are difficult to solve, performing an analytical solution is of great importance, mostly because, compared to the numerical solution, the analytical solution can function as an accurate pattern. Additionally, the analytical solution is generally more appealing to engineers because their computational costs are less than those of the numerical solution. In this study, the perturbative method of multiple scales is used to obtain an analytical solution to the coupled nonlinear motion equations of the closed-loop system. Moreover, the parameters of the controller are determined, using the results of this solution. The findings reveal the existence of hardening- and softening-type resonances at the first and second vibrational modes, respectively. This led to a wide frequency range with moderately large-amplitude vibrations, which must be avoided when adjusting a time-varying set-point for the system. The analytical results of the nonlinear vibration of the RIP are verified by experimental measurements, and a very good agreement is observed between the results of both approaches.

Sign in / Sign up

Export Citation Format

Share Document