TY - GEN
T1 - Design and implementation of robust generalized dynamic inversion control for stabilizing rotary inverted pendulum
AU - Ansari, Uzair
AU - Mehedi, Ibrahim Mustafa
AU - Bajodah, Abdulrahman H.
AU - Al-Saggaf, Ubaid M.
N1 - Publisher Copyright:
© 2019 EUCA.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071556894&partnerID=8YFLogxK
U2 - 10.23919/ECC.2019.8795624
DO - 10.23919/ECC.2019.8795624
M3 - Conference Proceeding
AN - SCOPUS:85071556894
T3 - 2019 18th European Control Conference, ECC 2019
SP - 2626
EP - 2631
BT - 2019 18th European Control Conference, ECC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th European Control Conference, ECC 2019
Y2 - 25 June 2019 through 28 June 2019
ER -