4.7 Article

A nonlinear hybrid controller for swinging-up and stabilizing the rotary inverted pendulum

期刊

NONLINEAR DYNAMICS
卷 104, 期 2, 页码 1117-1137

出版社

SPRINGER
DOI: 10.1007/s11071-021-06317-2

关键词

Energy control; Feedback linearization control; Modified super-twisting control; Rotary inverted pendulum; Stabilization control; Swing-up control

资金

  1. National Research Foundation of Korea - Ministry of Science and ICT [NRF-2017R1A5A1015311]
  2. Basic Science Research Program through the National Research Foundation of Korea - Ministry of Education [2020R1A6A1A03040570]
  3. National Research Foundation of Korea [4199990114300, 4199990313912] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

向作者/读者索取更多资源

In this paper, a new class nonlinear hybrid controller (NHC) is proposed for swinging-up and stabilizing the rotary inverted pendulum system. The swing-up controller drives the pendulum towards the desired position, and the modified sliding mode controller is utilized for stabilization. Experimental results demonstrate the effectiveness of the NHC in swing-up and stabilization stages.
In this paper, we propose a new class nonlinear hybrid controller (NHC) for swinging-up and stabilizing the (under-actuated) rotary inverted pendulum system. First, the swing-up controller, which drives the pendulum up towards the desired upright position, is designed based on the feedback linearization and energy control methods. Then, the modified super-twisting sliding mode control is proposed based on the new sliding surface to stabilize both the fully-actuated (the rotary arm) and under-actuated (the pendulum) state variables. In the proposed NHC, around the upright position, the stabilization controller is applied, and in different circumstances aside from the upright position, the swing-up controller is used. We show that with the proposed NHC: (i) in the swing-up stage, the pendulum is able to reach the desired upright position; and (ii) in the stabilization stage, the closed-loop rotary inverted pendulum is asymptotically stable. We demonstrate the effectiveness of the proposed NHC through extensive experiments. In particular, (i) the faster swing-up under the similar control effort is obtained, compared with the existing fuzzy logic swing-up controller; (ii) the better stabilization control performance for the convergence of the angular positions of the rotary arm and pendulum is attained and the chattering is alleviated, compared with the existing sliding mode stabilization controllers; (iii) the better stabilization control accuracy with the faster convergence time and lower peak overshoot is accomplished, compared with the existing Fuzzy-LQR controller; and (iv) the good robustness against sudden external disturbances is achieved.

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