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A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum
Joint Authors
Hassanzadeh, Iraj
Zadi, M.
Nejadfard, A.
Source
Mathematical Problems in Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-05-05
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This paper considers the design and practical implementation of linear-based controllers for a cart-type double inverted pendulum (DIPC).
A constitution of two linked pendulums placed on a sliding cart, presenting a three Degrees of Freedom and single controlling input structure.
The controller objective is to keep both pendulums in an up-up unstable equilibrium point.
Modeling is based on the Euler-Lagrange equations, and the resulted nonlinear model is linearized around up-up position.
First, the LQR method is used to stabilize DIPC by a feedback gain matrix in order to minimize a quadratic cost function.
Without using an observer to estimate the unmeasured states, in the next step we make use of LQG controller which combines the Kalman-Bucy filter estimation and LQR feedback control to obtain a better steady-state performance, but poor robustness.
Eventually, to overcome the unknown nonlinear model parameters, an adaptive controller is designed.
This controller is based on Model Reference Adaptive System (MRAS) method, which uses the Lyapunov function to eliminate the defined state error.
This controller improves both the steady-state and disturbance responses.
American Psychological Association (APA)
Hassanzadeh, Iraj& Nejadfard, A.& Zadi, M.. 2011. A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum. Mathematical Problems in Engineering،Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-512390
Modern Language Association (MLA)
Hassanzadeh, Iraj…[et al.]. A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum. Mathematical Problems in Engineering No. 2011 (2011), pp.1-14.
https://search.emarefa.net/detail/BIM-512390
American Medical Association (AMA)
Hassanzadeh, Iraj& Nejadfard, A.& Zadi, M.. A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum. Mathematical Problems in Engineering. 2011. Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-512390
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-512390