Swing-up control of double-inverted pendulum systems
<p>This article deals with presenting a new swing-up control approach of a double-inverted pendulum on a trolley. The dynamic model of the double-inverted pendulum is derived and linearized. Two different linearization approaches are used: first, the traditional Taylor's series approach a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2024-01-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/15/47/2024/ms-15-47-2024.pdf |
| _version_ | 1827370062435057664 |
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| author | A. M. Al Juboori M. T. Hussein A. S. G. Qanber |
| author_facet | A. M. Al Juboori M. T. Hussein A. S. G. Qanber |
| author_sort | A. M. Al Juboori |
| collection | DOAJ |
| description | <p>This article deals with presenting a new swing-up control approach of a double-inverted pendulum on a trolley. The dynamic model of the double-inverted pendulum is derived and linearized. Two different linearization approaches are used: first, the traditional Taylor's series approach and, second, using partial linearization. A state feedback control algorithm has been implemented based on the linearized model from Taylor's series. Furthermore, a method for swinging up the pendulum to the inversion position from rest (swing-up) has been presented. The design and implementation of the swing-up function of the pendulum are implemented using the partial linearized model. The swing-up control procedure depends on using the feedforward–feedback controllers' combination to transfer the pendulums from the downward to the upward position. The time-variant controller gain is used for the sake of the swing-up control procedure. The performances of these algorithms are shown in this paper through simulations.</p> |
| first_indexed | 2024-03-08T10:01:50Z |
| format | Article |
| id | doaj.art-67dda3379959421197e116855cbb6e4e |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-03-08T10:01:50Z |
| publishDate | 2024-01-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-67dda3379959421197e116855cbb6e4e2024-01-29T10:50:08ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2024-01-0115475410.5194/ms-15-47-2024Swing-up control of double-inverted pendulum systemsA. M. Al Juboori0M. T. Hussein1A. S. G. Qanber2Biomedical Engineering Department, Al-Mustaqbal University College, Hillah, IraqDepartment of Mechanical Engineering, University of Babylon, College of Engineering, Hillah, IraqDepartment of Biomedical Engineering, University of Babylon, College of Engineering, Hillah, Iraq<p>This article deals with presenting a new swing-up control approach of a double-inverted pendulum on a trolley. The dynamic model of the double-inverted pendulum is derived and linearized. Two different linearization approaches are used: first, the traditional Taylor's series approach and, second, using partial linearization. A state feedback control algorithm has been implemented based on the linearized model from Taylor's series. Furthermore, a method for swinging up the pendulum to the inversion position from rest (swing-up) has been presented. The design and implementation of the swing-up function of the pendulum are implemented using the partial linearized model. The swing-up control procedure depends on using the feedforward–feedback controllers' combination to transfer the pendulums from the downward to the upward position. The time-variant controller gain is used for the sake of the swing-up control procedure. The performances of these algorithms are shown in this paper through simulations.</p>https://ms.copernicus.org/articles/15/47/2024/ms-15-47-2024.pdf |
| spellingShingle | A. M. Al Juboori M. T. Hussein A. S. G. Qanber Swing-up control of double-inverted pendulum systems Mechanical Sciences |
| title | Swing-up control of double-inverted pendulum systems |
| title_full | Swing-up control of double-inverted pendulum systems |
| title_fullStr | Swing-up control of double-inverted pendulum systems |
| title_full_unstemmed | Swing-up control of double-inverted pendulum systems |
| title_short | Swing-up control of double-inverted pendulum systems |
| title_sort | swing up control of double inverted pendulum systems |
| url | https://ms.copernicus.org/articles/15/47/2024/ms-15-47-2024.pdf |
| work_keys_str_mv | AT amaljuboori swingupcontrolofdoubleinvertedpendulumsystems AT mthussein swingupcontrolofdoubleinvertedpendulumsystems AT asgqanber swingupcontrolofdoubleinvertedpendulumsystems |