Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum

Erwin Susanto,Agung Surya Wibowo,Elvandry Ghiffary Rachman

doi:10.1109/access.2019.2963399

Erwin Susanto, Agung Surya Wibowo + Show 1 more

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https://doi.org/10.1109/access.2019.2963399

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Abstract

This paper presents the realisation of self-erecting inverted pendulum controls via two switched control approaches, a rule based fuzzy control for swing up inverted pendulum rod to pose upright position from downright position and an optimal state feedback control for stabilization as pendulum on upright position close to its equilibrium vertical line. The aim of this study is to solve two important problems on self-erecting inverted pendulum; swing up and stability in its upright balance position. Simulation and experimental results showed that control methods enabled the inverted pendulum swinging up and reaching its stable attitude in upright position even though small impulse and pulse disturbances were given.

Highlights

Problems of an inverted pendulum stabilization had been attracting many control system engineers and researchers for years [1]–[3]
This paper presents the realisation of self-erecting inverted pendulum via two switched control approaches, i) fuzzy logic control (FLC) for swinging up inverted pendulum to reach upright position from downright position and ii) state feedback design control for stabilization as pendulum on upright position
This study proposed the optimal state feedback was designed by a simple linear matrix inequality (LMI) approach based on Lyapunov’s stability theorem

Summary

Introduction

Problems of an inverted pendulum stabilization had been attracting many control system engineers and researchers for years [1]–[3]. Since an inverted pendulum is typically nonlinear, high order, multivariable and unstable, many efforts to achieve balancing condition were proposed [4], [5]. An inverted pendulum could represent model and control of human balance in walking and running [9]. To mention some newest research on inverted pendulum, we can observe several implementations of control methods for both swing up and stabilization problems. Horibe and Sakamoto developed nonlinear optimal control for inverted pendulum via stable manifold method to solve Hamilton-Jacobi Equation approximately [12]. Non linear optimal control design with State-Dependent Riccati Equation (SDRE) for two-wheeled inverted pendulum

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