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Design and control of spatial inverted pendulum with two degrees of freedom

Authors
  • Bayram, Atilla1
  • Kara, Firat2
  • 1 VAN Yuzuncu Yil University, Van, Turkey , Van (Turkey)
  • 2 İzmir Institute of Technology, İzmir, Turkey , İzmir (Turkey)
Type
Published Article
Journal
Journal of the Brazilian Society of Mechanical Sciences and Engineering
Publisher
Springer Berlin Heidelberg
Publication Date
Sep 08, 2020
Volume
42
Issue
10
Identifiers
DOI: 10.1007/s40430-020-02580-3
Source
Springer Nature
Keywords
License
Yellow

Abstract

The inverted pendulum systems have inherently unstable dynamics. In order to stabilize the inverted pendulum at upright position, an actuation mechanism should generate fast-reactive motions at the pivot point of the system. This paper addressed the design and control of a spatial inverted pendulum with two degrees of freedom (DOF). The first part of the study consists of designing a novel planar two-DOF (PRRRR) actuation mechanism in order to balance the spatial inverted pendulum. The system is underactuated and has inherently extreme nonlinearity and also the restrictions on the actuators. Then, in the second part, a second-order sliding-mode and a linear quadratic Gaussian (LQG) controller have been proposed to control the pendulum within the equilibrium position. Finally the simulation results evaluated in terms of the robustness, time response and stability show that the second-order sliding-mode controller is more robust and has fast response performances in re-stabilizing the spatial inverted pendulum, while LQG controller is better in terms of keeping the system in equilibrium during the long period of time.

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