Balancing a Rotary Double Inverted Pendulum using Two-loops Adaptive Controller based on Dynamic Inversion Technique

Mohd Heidir Mohd Shah, Ibrahim M. Mehedi, Ubaid M. Al-Saggaf, Ahmad H. Milyani, Nordin B. Saad, Nor Zaihar Yahaya

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

2 Citations (Scopus)

Abstract

Balancing control of a double inverted pendulum is a great challenge as it is an unstable and non-linear system that requires fast control reaction. In this paper, a dynamic inversion controller is proposed for balancing control of a rotary double inverted pendulum system. The controller consists of two loops where the outer loop is responsible for generating desired position command while the inner loop takes the command to produce the actual control action. The robustness of the controller is added by the introduction of the sliding surface vector function. The effectiveness of the proposed controller is investigated through numerical simulations with two other types of controllers that are also tested for comparison purposes. The results prove that the proposed controller capable of balancing the rotary double inverted pendulum under the influence of disturbances, while comparisons with Sliding Mode Controller (SMC) and Linear Quadratic Regulator (LQR) in various scenarios suggested that the proposed controller was the most consistent controller as opposed to the other two.

Original languageEnglish
Title of host publicationInternational Conference on Intelligent and Advanced Systems
Subtitle of host publicationEnhance the Present for a Sustainable Future, ICIAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728176666
DOIs
Publication statusPublished - 2021
Externally publishedYes
Event8th International Conference on Intelligent and Advanced Systems, ICIAS 2021 - Virtual, Online, Malaysia
Duration: 13 Jul 202115 Jul 2021

Publication series

NameInternational Conference on Intelligent and Advanced Systems: Enhance the Present for a Sustainable Future, ICIAS 2021

Conference

Conference8th International Conference on Intelligent and Advanced Systems, ICIAS 2021
Country/TerritoryMalaysia
CityVirtual, Online
Period13/07/2115/07/21

Keywords

  • Adaptive control
  • dynamic inversion
  • non-linear control

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