Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

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...

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Autores principales:	Hojin Lee, Jeonghwan Gil, Sesun You, Yonghao Gui, Wonhee Kim
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	balancing control equivalent input disturbance linear-quadratic regulator position tracking desired state dynamics Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/6e955d9c65ff4274a0716131522b3a55
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spelling	oai:doaj.org-article:6e955d9c65ff4274a0716131522b3a552021-11-11T18:17:37ZArm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum10.3390/math92127452227-7390https://doaj.org/article/6e955d9c65ff4274a0716131522b3a552021-10-01T00:00:00Zhttps://www.mdpi.com/2227-7390/9/21/2745https://doaj.org/toc/2227-7390This 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.Hojin LeeJeonghwan GilSesun YouYonghao GuiWonhee KimMDPI AGarticlebalancing controlequivalent input disturbancelinear-quadratic regulatorposition trackingdesired state dynamicsMathematicsQA1-939ENMathematics, Vol 9, Iss 2745, p 2745 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	balancing control equivalent input disturbance linear-quadratic regulator position tracking desired state dynamics Mathematics QA1-939
spellingShingle	balancing control equivalent input disturbance linear-quadratic regulator position tracking desired state dynamics Mathematics QA1-939 Hojin Lee Jeonghwan Gil Sesun You Yonghao Gui Wonhee Kim Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
description	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.
format	article
author	Hojin Lee Jeonghwan Gil Sesun You Yonghao Gui Wonhee Kim
author_facet	Hojin Lee Jeonghwan Gil Sesun You Yonghao Gui Wonhee Kim
author_sort	Hojin Lee
title	Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
title_short	Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
title_full	Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
title_fullStr	Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
title_full_unstemmed	Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum
title_sort	arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/6e955d9c65ff4274a0716131522b3a55
work_keys_str_mv	AT hojinlee armangletrackingcontrolwithpolebalancingusingequivalentinputdisturbancerejectionforarotationalinvertedpendulum AT jeonghwangil armangletrackingcontrolwithpolebalancingusingequivalentinputdisturbancerejectionforarotationalinvertedpendulum AT sesunyou armangletrackingcontrolwithpolebalancingusingequivalentinputdisturbancerejectionforarotationalinvertedpendulum AT yonghaogui armangletrackingcontrolwithpolebalancingusingequivalentinputdisturbancerejectionforarotationalinvertedpendulum AT wonheekim armangletrackingcontrolwithpolebalancingusingequivalentinputdisturbancerejectionforarotationalinvertedpendulum
_version_	1718431891595460608

Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

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