Swing-up control of a serial double inverted pendulum

Henmi, Tomohiro; Deng, Mingcong

doi:10.23919/acc.2004.1383932

Cited by 19 publications

(8 citation statements)

References 3 publications

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“…Many control approaches have been proposed in order to stabilizing a double-link inverted pendulum system on two wheels. There are including Neural Network (NN) base controller [10][11], Fuzzy Logic base controller [12][13][14][15], hybrid Linear Quadratic Regulator-Fuzzy controller (LQR-Fuzzy) [16][17] and swing-up scheme control [22]. Moreover, the existing research also worked on Proportional Derivative (PD) controller [24], cascading Proportional Integral Derivative (PID) controller [25] and group of Sliding Mode Controller (SMC) [18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

Jamin

Ghani

Ibrahim

et al. 2019

International Journal of Simulation: Systems, Science &Amp; Technology

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In this paper, an Interval Type-2 Fuzzy Logic Control (IT2FLC) is proposed to control a two-wheeled wheelchair system which mimics double-links inverted pendulum and known as highly nonlinear, unstable and complex system. The control structures of the two-wheeled wheelchair is based on IT2FLC for balancing and maintaining stability of two-wheeled wheelchair system in the upright position. This paper is aimed to develop a 3-Dimensional (3D) model of two-wheeled wheelchair using a SimWise 4D (SW4D) software, which replace a complex mathematical representation that is obtained using long equation and derivation. The movement of the system is visualized using the SW4D as it is integrated with Matlab Simulink. Simulation results show that the IT2FLC give a good performance in term of tilt angle at zero degree in the upright position.

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Section: Introductionmentioning

confidence: 99%

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

Jamin

Ghani

Ibrahim

et al. 2019

International Journal of Simulation: Systems, Science &Amp; Technology

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“…There are several types of pendulums, e.g., a single pendulum, a parallel double pendulum, a serial double pendulum and a two dimensional pendulum. Many control methods[l], [2], [3], [4], [5], [6], [7], [9] have been proposed to control the inverted pendulum systems.…”

Section: Introductionmentioning

confidence: 99%

Unified method for swing-up control of double inverted pendulum systems

Henmi

Deng

2014

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems

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In this paper, a swing-up and stabilization control method for two type double inverted pendulums, that is, serial double inverted pendulum and parallel double inverted pendulum, is proposed. In the proposed method, since two pendulums are treated as separate single pendulum and controllers using energy-based control are designed for each pendulum, this method is applicable to both of swing-up control problems of serial and parallel double inverted pendulums, whereas so far those problems have been treated as completely different control problems. Experimental results are given to show the effectiveness of the proposed method

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“…In general, inverted pendulum system has several types, e.g., a single pendulum (Shiriaev et al, 2001), a double pendulum (Yamakita et al, 1995;Inoue et al, 2004;Henmi et al, 2004), etc.. The use of the inverted pendulum is a traditional topic for verification and practice of various kinds of control theories, because the system is a nonlinear and underactuated mechanical system.…”

Section: Introductionmentioning

confidence: 99%

“…In each step, a control scheme and a switching rule from the first step to the next one are given. Although the control law in Step 2 corresponds to the control problem stabilizing the first pendulum in Henmi et al, 2004), the control laws swinging up the pendulum is different from those in Henmi et al, 2004). That is, the proposed controller is given by a swing-up control law in the step 1 with sliding mode control and it has stronger robustness to disturbance.…”

Section: Introductionmentioning

confidence: 99%

Practical Swing-Up Controller Design for a Cart-Type Single Inverted Pendulum Having a Serial Second Pendulum as Parasitic Dynamics

Deng

Kosugi

Henmi

2005

IFAC Proceedings Volumes

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This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the motion of the second pendulum works as strong disturbance to the control of the first pendulum. Hence the control scheme is required to be strongly robust to the disturbance, and this paper uses sliding mode control law as the controller, which is strongly robust to disturbance. After the swing-up, the controller also stabilizes both angles of the pendulums and cart position. Numerical simulations are given to show the effectiveness of the proposed scheme.

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Swing-up control of a serial double inverted pendulum

Cited by 19 publications

References 3 publications

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

Two-Wheeled Wheelchair Stabilization Using Interval Type-2 Fuzzy Logic Controller

Unified method for swing-up control of double inverted pendulum systems

Practical Swing-Up Controller Design for a Cart-Type Single Inverted Pendulum Having a Serial Second Pendulum as Parasitic Dynamics

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