Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

Wasiwitono, Unggul; Wahjudi, Arif; Saputra, Ari Kurniawan; Yohanes, Yohanes

doi:10.1177/1077546320929143

Cited by 8 publications

(5 citation statements)

References 21 publications

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“…Classic inverted pendulum systems are designed to move on a fixed linear mechanism. Some of others are two-wheeled inverted pendulums (Nawawi et al, 2008;Wasiwitono et al, 2021;Wu et al, 2012) and one-wheel inverted pendulums (Han et al, 2014;Moghadam and Marshall, 2021). They can move each direction on a two-dimensional surface by the wheels.…”

Section: Introductionmentioning

confidence: 99%

Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Erkol

Közkurt

2023

Journal of Materials and Mechatronics: A

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In this study, a flywheel inverted pendulum was modeled as simulation. The model controlled by fuzzy logic and PID controller for comparison. Fuzzy logic controllers were designed using triangular and Gaussian membership functions and various methods that are "and", "implication" and "aggregation". All gains from fuzzy logic controllers and PID were tuned by the trial-and-error method. The best performance was obtained by fuzzy logic controller that uses a triangular membership function and "prob/probor" functions. The results were evaluated in terms of three phenomena. In terms of Settling Time and Maximum Overshoot, Fuzzy Triangle MF with 0.15 s and 0 degrees, respectively, and PID and Fuzzy Triangle MF models with 0 degrees in terms of Steady-State error achieved the best success. In addition, the robustness of the control system was tested by applying two different types of disturbance inputs, random and impulse. The results show that fuzzy logic is a good alternative for balance control of a flywheel inverted pendulum, but PID has an acceptable performance.

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Section: Introductionmentioning

confidence: 99%

Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Erkol

Közkurt

2023

Journal of Materials and Mechatronics: A

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“…All in all, stability of the position and angular velocity of the arm and up-right balancing of the pendulum are the fundamental control objectives concerned to the RIP system (Hamza et al, 2019; Huang et al, 2012; Li et al, 2017; Wang et al, 2020b; Yiğit, 2017). Due to this reason, some control methods have been applied in the target of stability and swing-up control of the RIP system (Hazem et al, 2020; Patil et al, 2018; Sun et al, 2018; Wasiwitono et al, 2021; Rahmani et al, 2021). In Govind and Kumar (2020), an LQR-based PID state-feedback controller for the stability and balancing control of the RIP system was designed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive finite-time command-filtered backstepping sliding mode control for stabilization of a disturbed rotary-inverted-pendulum with experimental validation

Mofid

Alattas

Mobayen

et al. 2022

Journal of Vibration and Control

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In this paper, the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system is studied based on the adaptive backstepping sliding mode control procedure. For this purpose, first of all, the dynamical equation of the rotary-inverted-pendulum system is obtained in the state-space form in the existence of external disturbances and model uncertainties with unknown bound. Afterward, a novel command filter is defined to enhance the control strategy by consideration of a virtual control input. Therefore, the differential signal is replaced by the output of the command filter to reduce the complicated computing in the control process. Hence, the finite-time convergence of the sliding surface to the origin is attested by using the backstepping sliding mode control scheme according to the Lyapunov theory. Besides, the unknown upper bound of the exterior perturbation and uncertainty is approximated providing the adaptive control technique. Finally, simulations and experimental results are done to demonstrate the impression and proficiency of the suggested method.

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“…(Mahmoud, 2018). However, the under-actuated configuration of these systems, coupled with their open-loop instability and highly nonlinear behavior, presents a complex problem in formulating agile feedback controllers that can efficiently compensate for the bounded external disturbances while maintaining the system's postural stability (Wasiwitono et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors

Saleem

2022

Journal of Vibration and Control

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This paper synthesizes an innovative nonlinear-type self-adaptive Linear Quadratic Regulator (LQR) to enhance the robustness of under-actuated systems against bounded exogenous disturbances by using the relative-rate and state-error feedback. The control procedure is realized by augmenting the generic LQR with an online reconfiguration block that acts as a superior regulator to dynamically adjust the state-weighting-factors associated with the quadratic-performance index. The Riccati Equation uses the modified state-weighting-factors to re-compute the LQR problem and delivers the time-varying state-feedback gains. The said weighting-factors are adaptively modulated via a conventional state-error-magnitude-driven adaptation law that is retrofitted with auxiliary relative-rate-driven reconfiguration blocks. These blocks utilize error acceleration to deduce the response speed and thus re-adjust the variation rate of the weights in real time. This arrangement reinforces the controller’s adaptability to flexibly manipulate the tightness of the applied control effort. The proposed scheme is analyzed by conducting real-time hardware experiments on the QNET Rotary Pendulum. The experimental outcomes validate the superior position-regulation and disturbance-rejection behavior of the proposed scheme.

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Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

Cited by 8 publications

References 21 publications

Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Adaptive finite-time command-filtered backstepping sliding mode control for stabilization of a disturbed rotary-inverted-pendulum with experimental validation

An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors

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