'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'

Abdulrahman Rahmani; Khalifa Hamad Harib; Vyshak Sureshkumar; Adewale Oriyomi Oseni

doi:10.1109/ASET56582.2023.10180860

'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'

Abdulrahman Rahmani, Khalifa Hamad Harib, Vyshak Sureshkumar, Adewale Oriyomi Oseni

Department of Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.

Original language	English
Title of host publication	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665454742
DOIs	https://doi.org/10.1109/ASET56582.2023.10180860
Publication status	Published - 2023
Event	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023 - Dubai, United Arab Emirates Duration: Feb 20 2023 → Feb 23 2023

Publication series

Name	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023

Conference

Conference	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Country/Territory	United Arab Emirates
City	Dubai
Period	2/20/23 → 2/23/23

Keywords

Double Inverted Pendulum
LQR
Nonlinear Control
Optimal Control
Robustness
Underactuated Mechanical System

ASJC Scopus subject areas

Renewable Energy, Sustainability and the Environment
Biomedical Engineering
Control and Optimization
Artificial Intelligence
Computer Science Applications
Decision Sciences (miscellaneous)
Fuel Technology

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ASET56582.2023.10180860

Cite this

Rahmani, A., Harib, K. H., Sureshkumar, V., & Oseni, A. O. (2023). 'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'. In 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023 (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASET56582.2023.10180860

'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'. / Rahmani, Abdulrahman; Harib, Khalifa Hamad; Sureshkumar, Vyshak et al.
2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rahmani, A, Harib, KH, Sureshkumar, V & Oseni, AO 2023, 'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'. in 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023, Institute of Electrical and Electronics Engineers Inc., 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023, Dubai, United Arab Emirates, 2/20/23. https://doi.org/10.1109/ASET56582.2023.10180860

Rahmani A, Harib KH, Sureshkumar V, Oseni AO. 'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'. In 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023). doi: 10.1109/ASET56582.2023.10180860

Rahmani, Abdulrahman ; Harib, Khalifa Hamad ; Sureshkumar, Vyshak et al. / 'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'. 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023).

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abstract = "The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.",

keywords = "Double Inverted Pendulum, LQR, Nonlinear Control, Optimal Control, Robustness, Underactuated Mechanical System",

author = "Abdulrahman Rahmani and Harib, {Khalifa Hamad} and Vyshak Sureshkumar and Oseni, {Adewale Oriyomi}",

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AU - Oseni, Adewale Oriyomi

PY - 2023

Y1 - 2023

N2 - The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.

AB - The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.

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KW - Robustness

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'Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator'

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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