Back-stepping control for rotary inverted pendulum
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16151313@student.hcmute.edu.vnKeywords:
Rotary inverted pendulum, Back-stepping control, Furuta method, Exponentiation of the pendulum position, Balancing controlAbstract
Control of Rotary Inverted Pendulum (RIP) is a classic control problem and is considered a benchmark in control theory problems. It represents a broader class of under-actuated systems. Rotary inverted pendulum complex system, widely studied in many areas due to its complexity, nonlinearities and non-minimum-phase system. It relates to a class of real world system such as cart and pole, pendubot, missile launchers, human balance, bipedal robot, metronome and many more. The problems associated with it are always interesting topics in control engineering. This paper presents a back-stepping technique to control this system balancing at a vertical upright position-the unstable equilibrium point. Lyapunov-based back-stepping is proposed for a rotary inverted pendulum in this research. Both the simulation and experimental results on controllers-swing up and balancing- and system responses show the effectiveness of this method. And two methods swing-up will be proposed in this article are Furuta method and exponentiation of the pendulum position method.
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Quanser rotary inverted pendulum workbook
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