Abstract
This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.
Highlights
The rotational inverted pendulum (RIP) is a typical underactuated system in which the number of actuators is less than the system’s degrees of freedom [1]
We developed a position tracking control method with equivalent input disturbance (EID) rejection for RIP
The system model was developed by using Lagrangian equation and was linearized at the operation point
Summary
The rotational inverted pendulum (RIP) is a typical underactuated system in which the number of actuators is less than the system’s degrees of freedom [1]. It is difficult to reject the disturbances caused by the single control input in the RIP; the DOB cannot be applied to the RIP To overcome this problem, equivalent input disturbance (EID) was proposed in [25]. We propose an arm angle tracking control method with pole balancing using the EID rejection for the RIP. The EID rejection method is proposed to reject the disturbances that do not satisfy the matching condition because the RIP is the underactuated system. For arm angle tracking control and pole balancing with disturbance compensation, a state feedback controller was designed using the desired state dynamics. The proposed method is robust against the disturbance not satisfying the matching condition, the RIP is the underactuated system.
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