Stabilization of unstable equilibrium point of rotary inverted pendulum using fractional controller

DOI10.1016/J.JFRANKLIN.2017.09.013MaRDI QIDQ682769zbMATH OpenOpenAlexFDO

Authors Prakash Dwivedi, Sandeep Pandey, Anjali S. Junghare

Publication date 5 February 2018

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2017.09.013

zbMATH Keywords

stabilizationfractional calculusunstable equilibrium pointssaturation nonlinearityback calculation anti-windup techniquedynamic particle swarm optimization (dPSO)rotary single inverted pendulum (RSIP)

Mathematics Subject Classification ID

Fractional ordinary differential equations (34A08) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Adaptive or robust stabilization (93D21)

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Cites work

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Cited in

(10)

• Robust stabilisation of rotary inverted pendulum using intelligently optimised nonlinear self-adaptive dual fractional-order PD controllers
• Tuning rules: graphical analysis and experimental validation of a simplified fractional order controller for a class of open-loop unstable systems
• Fast robust adaptive tracker for uncertain nonlinear second‐order systems with time‐varying uncertainties and unknown parameters
• Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum.
• Performance analysis and experimental validation of 2-DOF fractional-order controller for underactuated rotary inverted pendulum
• Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum's base navigation commands
• Controller design for rotary inverted pendulum system using evolutionary algorithms
• Genetic algorithm and particle swarm optimization based cascade interval type 2 fuzzy PD controller for rotary inverted pendulum system
• Proficiency of fuzzy logic controller for stabilization of rotary inverted pendulum based on LQR mapping
• Passively realizable approximations of non-realizable fractional order impedance functions

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