eprintid: 15454
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/01/54/54
datestamp: 2023-11-10 03:30:05
lastmod: 2023-11-10 03:30:05
status_changed: 2023-11-10 01:59:31
type: conference_item
metadata_visibility: show
creators_name: Shah, M.H.M.
creators_name: Mehedi, I.M.
creators_name: Al-Saggaf, U.M.
creators_name: Milyani, A.H.
creators_name: Saad, N.B.
creators_name: Yahaya, N.Z.
title: Balancing a Rotary Double Inverted Pendulum using Two-loops Adaptive Controller based on Dynamic Inversion Technique
ispublished: pub
keywords: Adaptive control systems; Linear control systems; Pendulums; Sliding mode control, Adaptive Control; Adaptive controllers; Balancing controls; Double inverted pendulum; Dynamic inversion; Inversion techniques; Non linear control; ON dynamics; Rotary double inverted pendulum; Unstable linear systems, Controllers
note: cited By 1; Conference of 8th International Conference on Intelligent and Advanced Systems, ICIAS 2021 ; Conference Date: 13 July 2021 Through 15 July 2021; Conference Code:175661
abstract: Balancing control of a double inverted pendulum is a great challenge as it is an unstable and non-linear system that requires fast control reaction. In this paper, a dynamic inversion controller is proposed for balancing control of a rotary double inverted pendulum system. The controller consists of two loops where the outer loop is responsible for generating desired position command while the inner loop takes the command to produce the actual control action. The robustness of the controller is added by the introduction of the sliding surface vector function. The effectiveness of the proposed controller is investigated through numerical simulations with two other types of controllers that are also tested for comparison purposes. The results prove that the proposed controller capable of balancing the rotary double inverted pendulum under the influence of disturbances, while comparisons with Sliding Mode Controller (SMC) and Linear Quadratic Regulator (LQR) in various scenarios suggested that the proposed controller was the most consistent controller as opposed to the other two. © 2021 IEEE.
date: 2021
publisher: Institute of Electrical and Electronics Engineers Inc.
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85124164409&doi=10.1109%2fICIAS49414.2021.9642673&partnerID=40&md5=39f4e2fe71d355100019ae7126278c7b
id_number: 10.1109/ICIAS49414.2021.9642673
full_text_status: none
publication: International Conference on Intelligent and Advanced Systems: Enhance the Present for a Sustainable Future, ICIAS 2021
refereed: TRUE
isbn: 9781728176666
citation:   Shah, M.H.M. and Mehedi, I.M. and Al-Saggaf, U.M. and Milyani, A.H. and Saad, N.B. and Yahaya, N.Z.  (2021) Balancing a Rotary Double Inverted Pendulum using Two-loops Adaptive Controller based on Dynamic Inversion Technique.  In: UNSPECIFIED.