Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum

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

doi:10.1109/CEIT.2018.8751942

Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum

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

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

This paper presents the balance control design using Robust Generalized Dynamic Inversion (RGDI) for Rotary Double Inverted Pendulum (RDIP) system. The RGDI control comprised of the particular part and the robust control element. The particular part is responsible to enforce the constraint dynamics based on the attitude deviation functions, and is inverted using Moore-Penrose Generalized Inverse (MPGI) to obtain the control law. An additional robust term based on the concept of sliding mode is integrated to enhance the robust characteristics against system nonlinearities, uncertainties and disturbances. The singularity problem is addressed by incorporating a dynamic scale factor in the expression of MPGI. The proposed RGDI control will guarantee semi-global practically stable angular position tracking of the horizontal rotary arm and the stabilization of the two pendulums at the upright position. Numerical simulations are carried out on the RDIP simulator to analyze the controller performance.

Original language	English
Title of host publication	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editors	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538676417
DOIs	https://doi.org/10.1109/CEIT.2018.8751942
Publication status	Published - Oct 2018
Externally published	Yes
Event	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Duration: 25 Oct 2018 → 27 Oct 2018

Publication series

Name	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/Territory	Turkey
City	Istanbul
Period	25/10/18 → 27/10/18

Keywords

Double inverted pendulum
Generalized dynamic inversion
Lyapunov stability
Robust control
Sliding mode control

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10.1109/CEIT.2018.8751942

Cite this

Ansari, U., Mehedi, I. M., Bajodah, A. H., & Al-Saggaf, U. M. (2018). Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum. In S. N. Engin, D. O. Arisoy, & M. A. Oz (Eds.), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018 Article 8751942 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CEIT.2018.8751942

Ansari, Uzair ; Mehedi, Ibrahim Mustafa ; Bajodah, Abdulrahman H. et al. / Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum. 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. editor / Seref Naci Engin ; Dogan Onur Arisoy ; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

@inproceedings{0e41b6acfea84081a40a577e2c0cef64,

title = "Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum",

abstract = "This paper presents the balance control design using Robust Generalized Dynamic Inversion (RGDI) for Rotary Double Inverted Pendulum (RDIP) system. The RGDI control comprised of the particular part and the robust control element. The particular part is responsible to enforce the constraint dynamics based on the attitude deviation functions, and is inverted using Moore-Penrose Generalized Inverse (MPGI) to obtain the control law. An additional robust term based on the concept of sliding mode is integrated to enhance the robust characteristics against system nonlinearities, uncertainties and disturbances. The singularity problem is addressed by incorporating a dynamic scale factor in the expression of MPGI. The proposed RGDI control will guarantee semi-global practically stable angular position tracking of the horizontal rotary arm and the stabilization of the two pendulums at the upright position. Numerical simulations are carried out on the RDIP simulator to analyze the controller performance.",

keywords = "Double inverted pendulum, Generalized dynamic inversion, Lyapunov stability, Robust control, Sliding mode control",

author = "Uzair Ansari and Mehedi, {Ibrahim Mustafa} and Bajodah, {Abdulrahman H.} and Al-Saggaf, {Ubaid M.}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 6th International Conference on Control Engineering and Information Technology, CEIT 2018 ; Conference date: 25-10-2018 Through 27-10-2018",

year = "2018",

month = oct,

doi = "10.1109/CEIT.2018.8751942",

language = "English",

series = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

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Ansari, U, Mehedi, IM, Bajodah, AH & Al-Saggaf, UM 2018, Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum. in SN Engin, DO Arisoy & MA Oz (eds), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018., 8751942, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Istanbul, Turkey, 25/10/18. https://doi.org/10.1109/CEIT.2018.8751942

Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum. / Ansari, Uzair; Mehedi, Ibrahim Mustafa; Bajodah, Abdulrahman H. et al.
2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. ed. / Seref Naci Engin; Dogan Onur Arisoy; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. 8751942 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum

AU - Ansari, Uzair

AU - Mehedi, Ibrahim Mustafa

AU - Bajodah, Abdulrahman H.

AU - Al-Saggaf, Ubaid M.

PY - 2018/10

Y1 - 2018/10

N2 - This paper presents the balance control design using Robust Generalized Dynamic Inversion (RGDI) for Rotary Double Inverted Pendulum (RDIP) system. The RGDI control comprised of the particular part and the robust control element. The particular part is responsible to enforce the constraint dynamics based on the attitude deviation functions, and is inverted using Moore-Penrose Generalized Inverse (MPGI) to obtain the control law. An additional robust term based on the concept of sliding mode is integrated to enhance the robust characteristics against system nonlinearities, uncertainties and disturbances. The singularity problem is addressed by incorporating a dynamic scale factor in the expression of MPGI. The proposed RGDI control will guarantee semi-global practically stable angular position tracking of the horizontal rotary arm and the stabilization of the two pendulums at the upright position. Numerical simulations are carried out on the RDIP simulator to analyze the controller performance.

AB - This paper presents the balance control design using Robust Generalized Dynamic Inversion (RGDI) for Rotary Double Inverted Pendulum (RDIP) system. The RGDI control comprised of the particular part and the robust control element. The particular part is responsible to enforce the constraint dynamics based on the attitude deviation functions, and is inverted using Moore-Penrose Generalized Inverse (MPGI) to obtain the control law. An additional robust term based on the concept of sliding mode is integrated to enhance the robust characteristics against system nonlinearities, uncertainties and disturbances. The singularity problem is addressed by incorporating a dynamic scale factor in the expression of MPGI. The proposed RGDI control will guarantee semi-global practically stable angular position tracking of the horizontal rotary arm and the stabilization of the two pendulums at the upright position. Numerical simulations are carried out on the RDIP simulator to analyze the controller performance.

KW - Double inverted pendulum

KW - Generalized dynamic inversion

KW - Lyapunov stability

KW - Robust control

KW - Sliding mode control

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BT - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

A2 - Engin, Seref Naci

A2 - Arisoy, Dogan Onur

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Y2 - 25 October 2018 through 27 October 2018

ER -

Ansari U, Mehedi IM, Bajodah AH, Al-Saggaf UM. Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum. In Engin SN, Arisoy DO, Oz MA, editors, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8751942. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). doi: 10.1109/CEIT.2018.8751942

Robust generalized dynamic inversion control for stabilizing rotary double inverted pendulum

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