Modeling and control of a pneumatically actuated inverted pendulum

Žilić, Tihomir; Pavković, Danijel; Zorc, Davor

doi:10.1016/j.isatra.2009.03.004

Cited by 42 publications

(7 citation statements)

References 17 publications

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“…1 x and 3 x represent the position of the robot and the angle of the pendulum ha , ectively). Th a resp is v lues must be modified during subsequent iterations to achieve as good response as possible (refer to th ext section for results).…”

Section: Linear Quadratic Regulator (Lqr) Designmentioning

confidence: 99%

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LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

Eide¹,

Egelid²,

Stamsø³

et al. 2011

ICA

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The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum's angle and the robot's position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system successfully. The result shows, however, that LQR produced better response compared to a LQG strategy.

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Section: Linear Quadratic Regulator (Lqr) Designmentioning

confidence: 99%

“…The inverted pendulum is a typical representative of a class of high-order nonlinear and non-minimum phase systems [1]. Since the system is inherently nonlinear, it is useful to illustrate some of the ideas in nonlinear control.…”

Section: Introductionmentioning

confidence: 99%

LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

Eide¹,

Egelid²,

Stamsø³

et al. 2011

ICA

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show abstract

“…Most of the applications make use of electric actuators, appreciated for their high bandwidth. Anyway, some others make use of pneumatic technology [11][12][13][14], which presents some advantages such as the low cost and bandwidth sufficient to obtain stabilization. In [11] a low cost pneumatic actuator is used to control the system, together with potentiometers that measure the linear and angular displacements of cart and pendulum respectively.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of a pneumatically actuated inverted pendulum

et al. 2020

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This paper deals with the stabilization of an inverted pendulum on cart; the latter is pneumatically actuated by a double acting cylinder controlled by low cost proportional valves. In particular, a numerical model of whole system is developed in order to find the ability of the pneumatic actuation in stabilizing the pendulum and evaluate its bandwidth. A cascade of two control loops (the inner one for the pendulum angle, the outer one for the cart displacement) are analyzed and proper compensators are defined. The possibility of introducing an additional loop to control the force exerted by the actuator on the cart is evaluated.

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“…As regards to actuators, the most common are electric, although recent studies have also addressed the use of pneumatic technology. [19][20][21][22] The fact that the latter is less frequently used is due to the greater complexity introduced by the compressible nature of air, which immediately translates into a net reduction of system's bandwidth compared to electric actuation. Nevertheless, its adoption guarantees some major advantages.…”

Section: Introductionmentioning

confidence: 99%

Design and study of a pneumatically actuated inverted pendulum system controlled using a programmable logic controller

Pontin

Colombo

Mazza

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article investigates an inverted pendulum on a mobile cart (mobile inverted pendulum) controlled via a programmable logic controller and actuated by a double-acting pneumatic cylinder. The study is conducted both theoretically, by modeling and simulating the entire system, and experimentally, using a specially developed test bench. Four low-cost 2/2 proportional valves are used for cylinder control. The control architecture consists of two nested control loops with proportional–integral–derivative compensators. To reduce cost, a programmable logic controller was used to manage both the system control and data acquisition. The results of the simulations carried out using linear and nonlinear models of the system were validated by comparison with those obtained experimentally.

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Modeling and control of a pneumatically actuated inverted pendulum

Cited by 42 publications

References 17 publications

LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

Stability analysis of a pneumatically actuated inverted pendulum

Design and study of a pneumatically actuated inverted pendulum system controlled using a programmable logic controller

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