Swing-Up and Stabilization Control Design for an Underactuated Rotary Inverted Pendulum System: Theory and Experiments

Abstract

In this paper, the swing-up and stabilization control problems for a rotary inverted pendulum system are solved via new control schemes, in which the swing-up strategy is designed by using trajectory planning and inertia effect such that the pendulum can be swung to a desired position to trigger the stabilization controller, and the stabilization scheme is implemented by resorting to the nonlinear adaptive neural network control method and linear matrix inequation technique. By using Lyapunov stability theory, it can be proved that the target trajectory can be boundedly tracked by the arm section, and the pendulum section can be balanced in the upright position with a small error. Finally, two experimental results are given to show the effectiveness of the proposed swing-up and stabilization methods, respectively.