Robust control design for rotary inverted pendulum with unmatched uncertainty

Pandey, Amit; Adhyaru, Dipak M.

doi:10.1007/s40435-022-01047-8

Cited by 7 publications

(4 citation statements)

References 21 publications

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“…However, the undesired oscillations are prominent in the cases of matched uncertainty with Rs and unmatched uncertainty. The figures (32), (33), (34), and (35) shows the control input with the actual mass of the ball and the +25% change in the mass of the ball for the different uncertainties. The figure clearly illustrates that the control input remains near to its value as discussed in section (6).…”

Section: Methodsmentioning

confidence: 99%

“…However, the undesired oscillations and upper limit of control input is higher in the cases of matched uncertainty with Rs and unmatched uncertainty. The figures (34), and (35) shows the variation of ball position with different uncertainties for actual mass and for the change in +25% mass of the ball. The purpose of this comparison is to draw which robust controller performs better in tracking the desired position of the ball even in the presence of disturbance in terms of the mass.…”

Section: Methodsmentioning

confidence: 99%

“…The robust-optimal approach using the HJB equation and neural network for the nonlinear system is proposed with fixed-time convergence [33]. The robust-optimal approach for mismatch uncertainty is discussed [34] for a rotary inverted pendulum. Matched and unmatched uncertainties have been addressed using the HJB equation-based robust-optimal control approach [35].…”

Section: Introductionmentioning

confidence: 99%

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Robust-Optimal Control of Electromagnetic Levitation System with Matched and Unmatched Uncertainties: Experimental Validation

Pandey,

Adhyaru

2023

Preprint

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A robust-optimal control approach for an electromagnetic levitation system with matched and unmatched uncertainties is proposed in this article. Because of the uncertainties in the dynamics of an electromagnetic levitation system, it is necessary to design a robust control law that will ensure the stability of the system in the presence of these uncertainties. In this framework, the dynamics of an electromagnetic levitation system are addressed in terms of matched and unmatched uncertainties. The robust control problem is translated into the optimal control problem, where the uncertainties of the electromagnetic levitation system are reflected in the cost function. The optimal control method is used to solve the robust control problem. The solution to the optimal control problem for the electromagnetic levitation system is indeed a solution to the robust control problem of the electromagnetic levitation system under matched and unmatched uncertainties. The simulation and experimental results 1 demonstrate the performance of the designed control scheme. The performance indices such as IAE, ISE, ITAE, and ITSE are compared for both uncertainties to showcase the robustness of the designed control scheme.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust-Optimal Control of Electromagnetic Levitation System with Matched and Unmatched Uncertainties: Experimental Validation

Pandey,

Adhyaru

2023

Preprint

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“…The rotary inverted pendulum has captivated the attention of control scientists due to its inherently unstable nature and diverse applications [1][2][3]. In the pursuit of controlling rotary inverted pendulum systems, researchers have explored various methodologies, including both classical linear control techniques and the advantages offered by nonlinear control.…”

Section: Introduction *mentioning

confidence: 99%

Fuzzy Observer-Based Control Design for Rotary Inverted Pendulum Using Takagi-Sugeno Model

2024

JST: SSAD

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The paper introduces fuzzy observer-based control for rotary inverted pendulum systems, renowned for their inherent instability and complexity. We leverage the Takagi-Sugeno (T-S) fuzzy model, which involves the incorporation of local linear models described by fuzzy rules, thus enabling precise and stable control. The Takagi-Sugeno (T-S) fuzzy model, a versatile framework renowned for its suitability in complex control systems, is central to our approach. The significance of observers in accurately estimating unmeasurable states is underlined, with a focus on elucidating the theoretical foundations of fuzzy observers and their role in bolstering control robustness. Additionally, we introduce the integration of Linear Matrix Inequalities (LMIs) and Parallel Distributed Compensation (PDC) for efficient determination of observer and control gains. These advanced tools work in tandem to empower T-S observer control, ensuring both precision and robustness. This paper shows the potential of fuzzy observer-based control and achieving stability and high-performance control of rotary inverted pendulum systems. The effectiveness of the proposed method is validated through simulation results.

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A Study of Optimal Control for Under-Actuated Parallel Type—Triple Furuta Pendulum

Vo,

Nguyen,

Duong

et al. 2024

Lecture Notes in Electrical Engineering

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Robust control design for rotary inverted pendulum with unmatched uncertainty

Cited by 7 publications

References 21 publications

Robust-Optimal Control of Electromagnetic Levitation System with Matched and Unmatched Uncertainties: Experimental Validation

Robust-Optimal Control of Electromagnetic Levitation System with Matched and Unmatched Uncertainties: Experimental Validation

Fuzzy Observer-Based Control Design for Rotary Inverted Pendulum Using Takagi-Sugeno Model

A Study of Optimal Control for Under-Actuated Parallel Type—Triple Furuta Pendulum

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