Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller
Balancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many co...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419833273 |
| _version_ | 1811327884298551296 |
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| author | Sondarangallage DA Sanjeewa Manukid Parnichkun |
| author_facet | Sondarangallage DA Sanjeewa Manukid Parnichkun |
| author_sort | Sondarangallage DA Sanjeewa |
| collection | DOAJ |
| description | Balancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many control algorithms fail or ineffectively control the rotary double inverted pendulum system. In this article, mixed sensitivity H∞ control is proposed to balance the rotary double inverted pendulum system. The controller is proposed to ensure the robust stability and enhance the time domain performance of the system under uncertainties and disturbances. Structure of the system, dynamics model and controller synthesis are presented. For performance evaluation, the proposed mixed sensitivity H∞ controller is compared with linear quadratic regulator from both simulation and experiment on the rotary double inverted pendulum system. The results show high performance of the proposed controller on the rotary double inverted pendulum system with model uncertainties and external disturbances. |
| first_indexed | 2024-04-13T15:15:47Z |
| format | Article |
| id | doaj.art-8569397cfc9e4734a9c0af27c1ee9f0b |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-13T15:15:47Z |
| publishDate | 2019-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8569397cfc9e4734a9c0af27c1ee9f0b2022-12-22T02:41:53ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-03-011610.1177/1729881419833273Control of rotary double inverted pendulum system using mixed sensitivity H∞ controllerSondarangallage DA SanjeewaManukid ParnichkunBalancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many control algorithms fail or ineffectively control the rotary double inverted pendulum system. In this article, mixed sensitivity H∞ control is proposed to balance the rotary double inverted pendulum system. The controller is proposed to ensure the robust stability and enhance the time domain performance of the system under uncertainties and disturbances. Structure of the system, dynamics model and controller synthesis are presented. For performance evaluation, the proposed mixed sensitivity H∞ controller is compared with linear quadratic regulator from both simulation and experiment on the rotary double inverted pendulum system. The results show high performance of the proposed controller on the rotary double inverted pendulum system with model uncertainties and external disturbances.https://doi.org/10.1177/1729881419833273 |
| spellingShingle | Sondarangallage DA Sanjeewa Manukid Parnichkun Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller International Journal of Advanced Robotic Systems |
| title | Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller |
| title_full | Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller |
| title_fullStr | Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller |
| title_full_unstemmed | Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller |
| title_short | Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller |
| title_sort | control of rotary double inverted pendulum system using mixed sensitivity h∞ controller |
| url | https://doi.org/10.1177/1729881419833273 |
| work_keys_str_mv | AT sondarangallagedasanjeewa controlofrotarydoubleinvertedpendulumsystemusingmixedsensitivityhcontroller AT manukidparnichkun controlofrotarydoubleinvertedpendulumsystemusingmixedsensitivityhcontroller |