Swing-up and Stabilization of the Rotational Inverted Pendulum Using PD and Fuzzy-PD Controllers☆

Abstract The paper proposes a simplified solution of the control problem of the rotational inverted pendulum. The rotational inverted pendulum (RIP) is a complex system, widely studied in many areas due to its complexity and nonlinearities. The control strategy is divided into two subproblems, the swing-up control of the pendulum using a PD cascade scheme and the balance/stabilizing control of the whole system using a fuzzy-PD regulator. The switching mode between these subproblems is also considered. The plant, the swing-up control and the stabilizing system are modeled and studied in the Matlab/Simulink environment.

[1]  Ju-Jang Lee,et al.  Swing-up and LQR stabilization of a rotary inverted pendulum , 2011, Artificial Life and Robotics.

[2]  Katsuhisa Furuta,et al.  Robust swing up control of double pendulum , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[3]  Rogelio Lozano,et al.  Energy based control of the Pendubot , 2000, IEEE Trans. Autom. Control..

[4]  Mark W. Spong,et al.  The Pendubot: a mechatronic system for control research and education , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[5]  Singh Vivekkumar Radhamohan,et al.  FUZZY SWING-UP AND STABILIZATION OF REAL INVERTED PENDULUM USING SINGLE RULEBASE , 2010 .

[6]  Mariagrazia Dotoli,et al.  Fuzzy sliding mode control for inverted pendulum swing-up with restricted travel , 2001, 10th IEEE International Conference on Fuzzy Systems. (Cat. No.01CH37297).

[7]  José Ángel Acosta,et al.  A new swing-up law for the Furuta pendulum , 2003 .

[8]  Ning Fang,et al.  Minimum-time swing-up of a rotary inverted pendulum by iterative impulsive control , 2004, Proceedings of the 2004 American Control Conference.

[9]  Stephen Yurkovich,et al.  Fuzzy Control , 1997 .

[10]  Max Donath,et al.  American Control Conference , 1993 .

[11]  Rafael Castro-Linares,et al.  Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation , 2010, 49th IEEE Conference on Decision and Control (CDC).

[12]  Iraj Hassanzadeh,et al.  Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms , 2011 .

[13]  Kazunobu Yoshida,et al.  Swing-up control of an inverted pendulum by energy-based methods , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[14]  Katsuhisa Furuta,et al.  Swinging up a pendulum by energy control , 1996, Autom..

[15]  Byung-Jae Park,et al.  Design of a Fuzzy Logic Controller for a Rotary-type Inverted Pendulum System , 2002, Int. J. Fuzzy Log. Intell. Syst..

[16]  Christopher G. Atkeson,et al.  A comparison of direct and model-based reinforcement learning , 1997, Proceedings of International Conference on Robotics and Automation.

[17]  J.W. Tu,et al.  The seismic response reduction by using model reference adaptive control algorithm , 2010, 2010 International Conference on Mechanic Automation and Control Engineering.

[18]  Ilya V. Kolmanovsky,et al.  Predictive energy management of a power-split hybrid electric vehicle , 2009, 2009 American Control Conference.

[19]  O.R. Gonzalez,et al.  Nonlinear control of swing-up inverted pendulum , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[20]  Alfred C. Rufer,et al.  JOE: a mobile, inverted pendulum , 2002, IEEE Trans. Ind. Electron..

[21]  Romeo Ortega,et al.  Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment , 2002, IEEE Trans. Autom. Control..

[22]  N. S. Marimuthu,et al.  MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL , 2009 .

[23]  Yangsheng Xu,et al.  Neural network approach to control system identification with variable activation functions , 1994, Proceedings of 1994 9th IEEE International Symposium on Intelligent Control.

[24]  Huang Mei,et al.  Study on stability control for single link rotary inverted pendulum , 2010, 2010 International Conference on Mechanic Automation and Control Engineering.

[25]  A.-V. Duka,et al.  Simulation of a fuzzy-PD learning control system , 2008, 2008 IEEE International Conference on Automation, Quality and Testing, Robotics.