Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum

Hfaiedh, Afef; Chemori, Ahmed; Abdelkrim, Afef

doi:10.1109/ssd49366.2020.9364233

Cited by 5 publications

(4 citation statements)

References 28 publications

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“…Another way to solve this problem is to employ the decoupling algorithm proposed by Olfati-Saber [16][17]. This algorithm also applies in different underactuated systems such as wheeled pendular-like systems (WPS) vehicle [28] and inertial wheel inverted pendulum [29]. To decouple these system inputs, we let 2 =̇ Thus, the equation ( 5) can be written as:…”

Section: Decoupling Inputmentioning

confidence: 99%

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

Rizal

Wahyu

Noor

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

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A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches.

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Section: Decoupling Inputmentioning

confidence: 99%

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

Rizal

Wahyu

Noor

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

View full text Add to dashboard Cite

show abstract

“…To provide strong robustness to such the control systems, uncertain nonlinearities as well as external disturbances should be tackled inside control loops. In [37][38][39], observers were adopted to approximate the systematic deviations that would be then compensated in control processes. Although promising control performances were resulted in, they could be further improved in multi-channel learning environments [18].…”

Section: Introductionmentioning

confidence: 99%

A LQR Neural Network Control Approach for Fast Stabilizing Rotary Inverted Pendulums

Nghi

Nhien

2021

Int. J. Precis. Eng. Manuf.

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Rotary inverted pendulum (RIP) is a well-known system that is commonly employed as an ideal benchmarking model for verifying linear and nonlinear control algorithms thanks to unique unstable and highly nonlinear natures. In this paper, an intelligent control method is developed for stabilizing such the RIP system in upright posture. The controller is structured from a linear quadratic regulator (LQR) and an online radial basis function (RBF) Neural-Network compensator. The LQR term plays a crucial role in yielding the nominal control signal based on a linearized model. Meanwhile, the neural control term is adopted to suppress the systematic deviation and external disturbances as the system is far from the equilibrium state. A damping segment-wise adaptation rule is proposed to activate the network operation. Stability of the closed-loop system is then proven by Lyapunov analyses. Effectiveness and feasibility of the advanced controller are confirmed throughout comparative simulation and real-time experiments.

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“…The author proposed three normal representations for 2-DOF systems where a backstepping procedure and a forwarding scheme were developed for the feedback form and the feed-forward form respectively. Besides, a wide range of control techniques have been proposed in the literature, such as partial feedback linearization (Spong and Praly (1997)), passivity-based-control (Ortega et al (2002) and Donaire et al (2017)), adaptive neural network-based control (Moreno-Valenzuela et al (2017) and Ghommam and Chemori (2017)), optimization-basedcontrol (Andary et al (2009)), observer-based super-twisting control (Hfaiedh et al (2020a)), to name a few.…”

Section: Introductionmentioning

confidence: 99%

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Hfaiedh

Chemori²,

Abdelkrim

2021

Transactions of the Institute of Measurement and Control

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In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

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Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum

Cited by 5 publications

References 28 publications

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

A LQR Neural Network Control Approach for Fast Stabilizing Rotary Inverted Pendulums

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

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