SavedAdd your journal

Journals / Yenilikçi Mühendislik ve Doğa Bilimleri / 2023 / Cilt: 3 Sayı: 2

Feedback linearization-based cascade control of an underactuated rotary inverted pendulum system

Eksik tahrikli döner ters sarkaç sisteminin geribeslemeli doğrusallaştırma tabanlı kademeli kontrolü

Aykut KOCAOĞLU
Pages
191–204
Publication Date
2023-07-31
DOI
—
🏛️Bibliographic metadata and full text access for this article are provided via DergiPark.
DergiPark Record ↗
✨

AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

The proposed feedback linearization-based cascade controller is compared with two different controllers in the presence of disturbances and shown to perform better.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:The cascaded control is a multi-loop control structure that is particularly favored to improve performance against disturbances.
📊
Key Findings & Data:In this paper, a cascaded control strategy is employed to control a rotary inverted pendulum system with nonlinear dynamics due to gravitational, Coriolis and centripetal forces acting on it.
💡
Conclusion & Impact:The proposed feedback linearization-based cascade controller is compared with two different controllers in the presence of disturbances and shown to perform better.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Kademeli kontrol · Geribeslemeli doğrusallaştırma · Döner ters sarkaç

Abstract

The cascaded control is a multi-loop control structure that is particularly favored to improve performance against disturbances. It is usually a feedback control consisting of an inner loop (slave controller) and an outer loop (master controller), where the set point of the slave controller is set by this master controller. In this paper, a cascaded control strategy is employed to control a rotary inverted pendulum system with nonlinear dynamics due to gravitational, Coriolis and centripetal forces acting on it. Herein, a feedback linearization-based Proportional-Derivative (PD) controller is used for the slave controller and a linear quadratic regulator is used for the master controller. The feedback linearization employed in the inner loop has a relative degree of two and has unstable zero dynamics. These unstable dynamics are addressed in the main controller design and the whole cascaded control becomes stable. In the nonlinear dynamic equation of the inverted pendulum, the torque applied to the pendulum is formulated as a disturbance factor. The proposed feedback linearization-based cascade controller is compared with two different controllers in the presence of disturbances and shown to perform better.

Özet

Kademeli kontrol, özellikle bozanetkenlere karşı performansı iyileştirmek için tercih edilen çok döngülü bir kontrol yapısıdır. Genellikle, iç döngü kontrolü (bağımlı kontrolör) ve dış döngü kontrolünden (ana kontrolör) oluşan ve bağımlı kontrolörün ayar noktasının, bu ana kontrolör tarafından ayarlandığı bir geri beslemeli kontroldür. Bu çalışmada, üzerine etki eden yerçekimi kuvvetleri, Coriolis ve merkezcil kuvvetlerden dolayı doğrusal olmayan dinamiğe sahip döner ters sarkaç sisteminin denetlenmesinde kademeli kontrol kullanılmıştır. Burada, bağımlı kontrolcü için geribeslemeli doğrusallaştırma tabanlı oransal-türevsel (PD) denetleyici ve ana kontrolcü içinse doğrusal karesel düzenleyici (DKD) kullanılmıştır. İç döngüde kullanılan geri beslemeli doğrusallaştırmanın bağıl derecesi ikidir ve kararsız sıfır dinamiklere sahiptir. Bu kararsız dinamikler ana kontrolcü tasarımında ele alınmış ve kademeli kontrolün kararlı olması sağlanmıştır. Ters sarkacın doğrusal olmayan dinamik denkleminde sarkaca uygulanabilen tork bozanetken olarak formüle edilmiştir. Önerilen geribeslemeli doğrusallaştırma tabanlı kademeli denetleyici, bozan etken varlığında iki farklı denetleyici ile karşılaştırılmış ve daha iyi performans sergilediği gösterilmiştir.

🔖

Cite This Article

KOCAOĞLU, A. (2023). Feedback linearization-based cascade control of an underactuated rotary inverted pendulum system. Yenilikçi Mühendislik ve Doğa Bilimleri, Cilt: 3 Sayı: 2, 191–204. https://ajindex.com/articles/978695

📄 Full Text PDF Viewer

📄

PDF görüntüleyici hazırlanıyor...

References (11)

  1. Aguilar-Ibáñez C, Mendoza-Mendoza J, Dávila J (2014) Stabilization of the cart pole system: by sliding mode control. Nonlinear Dyn 78:2769–2777. https://doi.org/10.1007/s11071-014-1624-6
  2. Manrique Escobar CA, Pappalardo CM, Guida D (2020) A parametric study of a deep reinforcement learning control system applied to the swing-up problem of the cart-pole. Appl Sci-Basel 10(24):9013. https://doi.org/10.3390/app10249013
  3. Inoue A, Deng MC (2009) Non-linear control of under-actuated mechanical systems. Int J Modell Identif Control 6(1):32-39. https://doi.org/10.1504/IJMIC.2009.023528
  4. Mehedi IM, Al-Saggaf UM, Mansouri R, Bettayeb M (2019) Stabilization of a double inverted rotary pendulum through fractional order integral control scheme. Int J Adv Rob Syst 16(4). https://doi.org/10.1177/1729881419846741
  5. Peng Z, Xin X, Liu Y (2023) Energy-based swing-up control for a two-link underactuated robot with flexible first joint. Nonlinear Dyn 111:289–302. https://doi.org/10.1007/s11071-022-07831-7
  6. Güneş U, Sel A, Kürkçü B, Kasnakoğlu C (2020) A comparison of H-infinity-synthesis and feedback linearization for rotary inverted pendulum. 11th International Conference on Mechanical and Aerospace Engineering (ICMAE), Athens, GREECE, Jul. 14–17. https://doi.org/10.1109/ICMAE50897.2020.9178849
  7. Soydemir MU, Şahin S, Bulucu P, Kocaoğlu A, Güzeliş C (2019) Learning feedback linearization based stable robust adaptive NARMA controller design for rotary inverted pendulum. 11th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 795-799. https://doi.org/10.23919/ELECO47770.2019.8990417
  8. Bulucu P, Soydemir MU, Şahin S, Kocaoğlu A, Güzeliş C (2019) Performance analysis of stable adaptive NARMA controller scheme for furuta pendulum. 23rd International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, Romania, 350-354. https://doi.org/10.1109/ICSTCC.2019.8885779
  9. Akhtaruzzaman M, Shafie AA (2010) Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis. IEEE International Conference on Mechatronics and Automation, Xi'an, China, 1342-1347. https://doi.org/10.1109/ICMA.2010.5589450
  10. Demirtaş M, Altun Y, İstanbullu A (2013) Virtual laboratory for sliding mode and PID control of rotary inverted pendulum. Comput Appl Eng Educ 21: 400-409. https://doi.org/10.1002/cae.20484
  11. Tang TF, Chong SH, Pang KK (2019) Stabilisation of a rotary inverted pendulum system with double-PID and LQR con