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

DOI10.1515/IJNSNS-2017-0040zbMATH Open1401.70015OpenAlexW2753968509MaRDI QIDQ1662382FDOQ1662382

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

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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)

Cites Work

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

Cited In (7)

• 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
• 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

Uses Software

• Matlab
• Simulink

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