Real-Time Stabilization Control of a Rotary Inverted Pendulum Using LQR-Based Sliding Mode Controller

Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum

“…In the studies presented so far in the literature for the angle control of the rotating inverted pendulum system seen in Figure 1, classical control methods such as PID (Kuo et al, 2009), PI, PD (Altinoz et al, 2010), adaptive control methods with sliding mode control (Bogdanov, 2004;Wang, 2009;Aydin et al, 2019), fuzzy control (Krishen and Becerra, 2006), sliding mode control (Khanesar et al, 2007), particle swarm optimization based PID control (Sugie and Fujimoto 1998;Bogdanov, 2004;Hassanzadeh and Mobayen, 2008;Sukontanakarn and Parnichkun 2009) and there are control studies sliding mode control methods via the artificial neural network (Aydin et al, 2019). Especially in recent years, development of a Neuro-Fuzzy Friction Estimation Model used to estimate the joint friction coefficients of a Triple Link Rotary Inverted Pendulum system , controlled of a rotary inverted pendulum by adaptive techniques (Nath and Dewan, 2017) , performing stability control of double link rotary inverted pendulum with Fuzzy-LQR and Fuzzy-LQG methods , developing of a fuzzy logic controller for rotary inverted pendulum (Le et al, 2018) , controlling the rotary inverted pendulum with incremental sliding mode control (Hong et al, 2019), a comparative analysis of the linear quadratic regulator and sliding mode control results for the rotating inverted pendulum (Nath and Dewan, 2018), performing of model-free sliding mode stabilizing control of the actual rotary inverted pendulum (Yiğit, 2017), developing of numerical design method by using non linear sliding mode control method for Rotary inverted pendulum (Cui, 2019), comparing the PID and sliding mode control results of the rotating inverted pendulum system using PLC (Howimanporn et al, 2020), pole placement controller applied to rotary inverted pendulum system (Muñoz-Poblete, 2018), performing of a rotary inverted pendulum real-time stability control using an LQR-based sliding mode controller (Chawla and Singla, 2021), performing of an adaptive neural network-based control of the rotary inverted pendulum with oscillation compensation (Zabihifar et al, 2020) studies have come to the fore.…”

Optimal FOPI-FOPD controller design for rotary inverted pendulum system using grey wolves’ optimization technique

“…Rotary inverted pendulum (RIP) is a good example of control theory verification in control engineering. It is an excellent model for controlling space booster rocket attitude, satellite attitude control, autonomous plane landing systems, airplane stabilization in unsteady airflow, ship cabin stability, segway, and humanoid robots [1]. Also, this system has new applications, such as energy harvesting systems, which are considered an effective solution to excerption the kinetic energy from rotary systems where a pendulum system is connected to an electromagnetic generator [2].…”

Combining Passivity-Based Control and Linear Quadratic Regulator to Control a Rotary Inverted Pendulum

“…Swing-up Journal of Robotics and Control (JRC) ISSN: 2715-5072 480 controller is used to swing an inverted pendulum from original position (stable position) to vertical upright position (unstable position). A few authors concentrate on addressing the swingup control of RIP such as [48], [56], [57], [59]- [64]. Trajectory tracking control is one of topic to study in control engineering [66]- [69].…”