Design and implementation of robust generalized dynamic inversion control for stabilizing rotary inverted pendulum

Uzair Ansari, Ibrahim Mustafa Mehedi, Abdulrahman H. Bajodah, Ubaid M. Al-Saggaf

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

1 Citation (Scopus)

Abstract

This paper will illustrate the application of constraint based Robust Generalized Dynamic Inversion (RGDI) control for balancing the Rotary Inverted Pendulum system. The proposed control law is established by hybridizing the equivalent control (conventional GDI) and the robust control. The equivalent control is constructed by formulating the dynamical constraints, based on the attitude deviation functions of the rotary arm and the vertical pendulum. The constraint dynamics are then inverted using dynamically scaled Moore-Penrose Generalized Inverse to solve for the equivalent control. For the robust term, sliding mode control is utilized, that will provide robustness against parametric uncertainties, system nonlinearities, such that semi-global practically stable angular position tracking is guaranteed. The controller's capability is verified through computer simulation and experimental studies on the Quanser's SRV02 Rotary Inverted Pendulum system.

Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2626-2631
Number of pages6
ISBN (Electronic)9783907144008
DOIs
Publication statusPublished - Jun 2019
Externally publishedYes
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: 25 Jun 201928 Jun 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
Country/TerritoryItaly
CityNaples
Period25/06/1928/06/19

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