Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum
In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a co...
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Veröffentlicht in: | Journal of vibration and control 2021-02, Vol.27 (3-4), p.415-425 |
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creator | Wasiwitono, Unggul Wahjudi, Arif Saputra, Ari K Yohanes |
description | In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H∞ disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum. |
doi_str_mv | 10.1177/1077546320929143 |
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It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum.</description><subject>Actuators</subject><subject>Attenuation</subject><subject>Disturbance</subject><subject>Feedback control</subject><subject>H-infinity control</subject><subject>Linear matrix inequalities</subject><subject>Mathematical analysis</subject><subject>Pendulums</subject><subject>Unstable equilibrium point</subject><issn>1077-5463</issn><issn>1741-2986</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp1UEtLxDAQDqLgunr3GPBcnWnSpjnK4gsWPLieS5qka5duUpNU0F9vlwqC4GmG-V7DR8glwjWiEDcIQhS8ZDnIXCJnR2SBgmOWy6o8nvYJzg74KTmLcQcAnCMsyOtLUk3Xd18qdd5R5Qw1XUxjaJTTlqqUrBtnTHuXgu-pb2l6s3T7GXzUfug07dyHDckaOlhnxn7cn5OTVvXRXvzMJdnc321Wj9n6-eFpdbvONAOZMlMhFm1T6BI0s8YqKQQ0aHSJumwtVKxAKbDKeSOYApBcaCa4kmCmu2JLcjXbDsG_jzameufH4KbEOueVEJyXWE4smFl6ejgG29ZD6PYqfNYI9aG7-m93kySbJVFt7a_pv_xv07Ruwg</recordid><startdate>202102</startdate><enddate>202102</enddate><creator>Wasiwitono, Unggul</creator><creator>Wahjudi, Arif</creator><creator>Saputra, Ari K</creator><creator>Yohanes</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-9048-1244</orcidid></search><sort><creationdate>202102</creationdate><title>Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum</title><author>Wasiwitono, Unggul ; Wahjudi, Arif ; Saputra, Ari K ; Yohanes</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c309t-d8115fb5c60c3edea9770b1dc61c6fe08351971824b73a00947c374a90d197a3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Actuators</topic><topic>Attenuation</topic><topic>Disturbance</topic><topic>Feedback control</topic><topic>H-infinity control</topic><topic>Linear matrix inequalities</topic><topic>Mathematical analysis</topic><topic>Pendulums</topic><topic>Unstable equilibrium point</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Wasiwitono, Unggul</creatorcontrib><creatorcontrib>Wahjudi, Arif</creatorcontrib><creatorcontrib>Saputra, Ari K</creatorcontrib><creatorcontrib>Yohanes</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of vibration and control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Wasiwitono, Unggul</au><au>Wahjudi, Arif</au><au>Saputra, Ari K</au><au>Yohanes</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum</atitle><jtitle>Journal of vibration and control</jtitle><date>2021-02</date><risdate>2021</risdate><volume>27</volume><issue>3-4</issue><spage>415</spage><epage>425</epage><pages>415-425</pages><issn>1077-5463</issn><eissn>1741-2986</eissn><abstract>In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. 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subjects | Actuators Attenuation Disturbance Feedback control H-infinity control Linear matrix inequalities Mathematical analysis Pendulums Unstable equilibrium point |
title | Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum |
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