Underactuated rotary inverted pendulum control using robust generalized dynamic inversion

Ibrahim M. Mehedi*, Uzair Ansari, Abdulrahman H. Bajodah, Ubaid M. AL-Saggaf, Belkacem Kada, Muhyaddin J. Rawa

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)

Abstract

The article applies the robust generalized dynamic inversion control methodology to the problem of stabilizing upright equilibrium configuration of the under-actuated rotary inverted pendulum system while tracking rotary motion of the actuated arm. The proposed robust generalized dynamic inversion control law comprised equivalent and switching control parts. The equivalent control part works to enforce a virtual constraint dynamics of the controlled state variables by means of Moore–Penrose generalized inversion. The switching control part is of the sliding mode type, and it improves robustness against unmodeled system dynamics, parametric uncertainties, and external disturbances. The robust generalized dynamic inversion control design on the linearized model of the under-actuated rotary inverted pendulum is shown to guarantee semi-global asymptotically stable tracking performance. Numerous computer simulations and experiments are conducted on the Quanser rotary inverted pendulum system, revealing that the proposed algorithm has better convergence and tracking performance than conventional sliding mode and generalized dynamic inversion control strategies when both are applied separately.

Original languageEnglish
Pages (from-to)2210-2220
Number of pages11
JournalJVC/Journal of Vibration and Control
Volume26
Issue number23-24
DOIs
Publication statusPublished - Dec 2020
Externally publishedYes

Keywords

  • Lyapunov stability
  • Robust generalized dynamic inversion
  • semi-global asymptotic stability
  • sliding mode control
  • under-actuated rotary inverted pendulum

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