Real-time swing-up and stabilization control of a cart-pendulum system with constrained cart movement

DOI10.1515/IJNSNS-2017-0040MaRDI QIDQ1662382zbMATH OpenOpenAlexFDO

Authors Ashish Singla, Gurminder Singh

Publication date 17 August 2018

Published in International Journal of Nonlinear Sciences and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1515/ijnsns-2017-0040

zbMATH Keywords

robustnessstabilizationcart-pendulum systemactuator dynamicsenergy controllerLQR controllerpole placement controller

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Linear optimal control problems (49N05)

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Cites work

• Stabilization of a 3D axially symmetric pendulum
• Stabilization of the inverted pendulum around its homoclinic orbit
• Swing-up and stabilization of a cart--pendulum system under restricted cart track length.
• Swinging up a pendulum by energy control
• Time Optimal Swing-Up of the Planar Pendulum

Cited in

(8)

• Swing-up and stabilization of a cart--pendulum system under restricted cart track length.
• Real-time control of a rotary inverted pendulum using robust LQR-based ANFIS controller
• Real-time implementation and analysis of a modified energy based controller for the swing-up of an inverted pendulum on a cart
• Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller
• Robust compensation of a Cart-inverted pendulum system using a periodic controller: experimental results
• Swing-up control of a triple pendulum on a cart with experimental validation
• Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation
• Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method

Describes a project that uses

Uses Software

• Simulink
• Matlab

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