Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System

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KARIMPOUR H.; Hadian Jazi Sh.; SADEGHIAN HAMID; Ghobadi Shahreza M.

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2018 | Volume:48 | Issue:2 (83) Page(s): 263-268

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Title

Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System

Author(s)

KARIMPOUR H. | Hadian Jazi Sh. | SADEGHIAN HAMID | Ghobadi Shahreza M. | Issue Writer Certificate

Keywords

Inverted Swinging Pendulum

Energy-based Control

Sliding Path

Abstract

The inverted pendulum system is recognized as one of the most challenging dynamic systems. The complication becomes even more involved when switching from the downside to upside configurations by reciprocating motions of the base cart is intended. Considering the large range of motion, the swinging-up control of the pendulum is not achievable through linearization and conventional nonlinear control methods do not apply due to the under-actuated character of the system. In the present research, an energy-based method with sliding control aspects is designed that assures a smoothly transition from the lower stable to upper unstable equilibrium state. This approach permits to design a proper Lyapunov candidate established on physical intuition. The controller permits to reach and stabilize to the new state while tracking a defined path with minimal effort simultaneously. The dynamics of the actuator has been included in the controller to reach a realistic model. The proposed method is implemented on an experimental apparatus that perfectly supports the simulation results.

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APA: Copy

KARIMPOUR, H., Hadian Jazi, Sh., SADEGHIAN, HAMID, & Ghobadi Shahreza, M.. (2018). Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System. JOURNAL OF MECHANICAL ENGINEERING, 48(2 (83) ), 263-268. SID. https://sid.ir/paper/270012/en

Vancouver: Copy

KARIMPOUR H., Hadian Jazi Sh., SADEGHIAN HAMID, Ghobadi Shahreza M.. Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2018;48(2 (83) ):263-268. Available from: https://sid.ir/paper/270012/en

IEEE: Copy

H. KARIMPOUR, Sh. Hadian Jazi, HAMID SADEGHIAN, and M. Ghobadi Shahreza, “Simulation and Implementation of Swinging-Up and Sliding Positioning Control of an Inverted Pendulum System,” JOURNAL OF MECHANICAL ENGINEERING, vol. 48, no. 2 (83) , pp. 263–268, 2018, [Online]. Available: https://sid.ir/paper/270012/en

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