Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum

Hojin Lee; Jeonghwan Gil; Sesun You; Yonghao Gui; Wonhee Kim

doi:10.3390/math9212745

Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum

Hojin Lee, Jeonghwan Gil, Sesun You, Yonghao Gui, Wonhee Kim

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.

Original language	English
Article number	2745
Journal	Mathematics
Volume	9
Issue number	21
DOIs	https://doi.org/10.3390/math9212745
State	Published - Nov 1 2021
Externally published	Yes

Funding

Funding: This work was supported in part by the Energy Cloud Research and Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT under Grant 2019M3F2A1073313, and in part by the Climate Change Response Technology Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT under Grant 2021M1A2A2065445.

Keywords

Balancing control
Desired state dynamics
Equivalent input disturbance
Linear-quadratic regulator
Position tracking

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title = "Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum",

abstract = "This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.",

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T1 - Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum

AU - Lee, Hojin

AU - Gil, Jeonghwan

AU - You, Sesun

AU - Gui, Yonghao

AU - Kim, Wonhee

PY - 2021/11/1

Y1 - 2021/11/1

N2 - This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.

AB - This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.

KW - Balancing control

KW - Desired state dynamics

KW - Equivalent input disturbance

KW - Linear-quadratic regulator

KW - Position tracking

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JO - Mathematics

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Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum

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