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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publication2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665454742
DOIs
Publication statusPublished - 2023
Event2023 Advances in Science and Engineering Technology International Conferences, ASET 2023 - Dubai, United Arab Emirates
Duration: Feb 20 2023Feb 23 2023

Publication series

Name2023 Advances in Science and Engineering Technology International Conferences, ASET 2023

Conference

Conference2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Country/TerritoryUnited Arab Emirates
CityDubai
Period2/20/232/23/23

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

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