Nonlinear/linear switched control of inverted pendulum system: stability analysis and real-time implementation

DOI10.1155/2019/2391587MaRDI QIDQ2298201zbMATH OpenOpenAlexWikidataFDO

Authors Amira Tiga, Chekib Ghorbel, Naceur Benhadj Braiek

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/2391587

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Stabilization of systems by feedback (93D15)

Review text

Summary: This paper treats the problems of stability analysis and control synthesis of the switched inverted pendulum system with nonlinear/linear controllers. The proposed control strategy consists of switching between backstepping and linear state feedback controllers on swing-up and stabilization zones, respectively. First, the backstepping controller is implemented to guarantee the rapid convergence of the pendulum to the desired rod angle from the vertical position. Next, the state feedback is employed to stabilize and maintain the system on the upright position inherently unstable. Based on the quadratic Lyapunov approach, the switching between the two zones is analyzed in order to determine a sufficient domain in which the stability of the desired equilibrium point is justified. A real-time experimentation shows a reduction of 84\% of the samples below the classical scheme when using only the backstepping control in the entire operating region. Furthermore, the reduction percentage has become 92\% in comparison with the composite linear/linear controller.

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Cites work

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(7)

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• Proportional PDC design-based robust stabilization and tracking control strategies for uncertain and disturbed T-S model
• A new switching control law for inverted pendulum
• scientific article; zbMATH DE number 6112565 (Why is no real title available?)
• scientific article; zbMATH DE number 5785879 (Why is no real title available?)
• A modelling and predictive control approach to linear two-stage inverted pendulum based on RBF-ARX model

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