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...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Journal of vibration and control 2021-02, Vol.27 (3-4), p.415-425
Hauptverfasser: Wasiwitono, Unggul, Wahjudi, Arif, Saputra, Ari K, Yohanes
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 425
container_issue 3-4
container_start_page 415
container_title Journal of vibration and control
container_volume 27
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
format Article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_journals_2487744616</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_1077546320929143</sage_id><sourcerecordid>2487744616</sourcerecordid><originalsourceid>FETCH-LOGICAL-c309t-d8115fb5c60c3edea9770b1dc61c6fe08351971824b73a00947c374a90d197a3</originalsourceid><addsrcrecordid>eNp1UEtLxDAQDqLgunr3GPBcnWnSpjnK4gsWPLieS5qka5duUpNU0F9vlwqC4GmG-V7DR8glwjWiEDcIQhS8ZDnIXCJnR2SBgmOWy6o8nvYJzg74KTmLcQcAnCMsyOtLUk3Xd18qdd5R5Qw1XUxjaJTTlqqUrBtnTHuXgu-pb2l6s3T7GXzUfug07dyHDckaOlhnxn7cn5OTVvXRXvzMJdnc321Wj9n6-eFpdbvONAOZMlMhFm1T6BI0s8YqKQQ0aHSJumwtVKxAKbDKeSOYApBcaCa4kmCmu2JLcjXbDsG_jzameufH4KbEOueVEJyXWE4smFl6ejgG29ZD6PYqfNYI9aG7-m93kySbJVFt7a_pv_xv07Ruwg</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2487744616</pqid></control><display><type>article</type><title>Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum</title><source>SAGE Complete</source><creator>Wasiwitono, Unggul ; Wahjudi, Arif ; Saputra, Ari K ; Yohanes</creator><creatorcontrib>Wasiwitono, Unggul ; Wahjudi, Arif ; Saputra, Ari K ; Yohanes</creatorcontrib><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.</description><identifier>ISSN: 1077-5463</identifier><identifier>EISSN: 1741-2986</identifier><identifier>DOI: 10.1177/1077546320929143</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Actuators ; Attenuation ; Disturbance ; Feedback control ; H-infinity control ; Linear matrix inequalities ; Mathematical analysis ; Pendulums ; Unstable equilibrium point</subject><ispartof>Journal of vibration and control, 2021-02, Vol.27 (3-4), p.415-425</ispartof><rights>The Author(s) 2020</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c309t-d8115fb5c60c3edea9770b1dc61c6fe08351971824b73a00947c374a90d197a3</citedby><cites>FETCH-LOGICAL-c309t-d8115fb5c60c3edea9770b1dc61c6fe08351971824b73a00947c374a90d197a3</cites><orcidid>0000-0002-9048-1244</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/1077546320929143$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/1077546320929143$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,776,780,21798,27901,27902,43597,43598</link.rule.ids></links><search><creatorcontrib>Wasiwitono, Unggul</creatorcontrib><creatorcontrib>Wahjudi, Arif</creatorcontrib><creatorcontrib>Saputra, Ari K</creatorcontrib><creatorcontrib>Yohanes</creatorcontrib><title>Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum</title><title>Journal of vibration and control</title><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.</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 &amp; Communications Abstracts</collection><collection>Mechanical &amp; 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. 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.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1177/1077546320929143</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0002-9048-1244</orcidid></addata></record>
fulltext fulltext
identifier ISSN: 1077-5463
ispartof Journal of vibration and control, 2021-02, Vol.27 (3-4), p.415-425
issn 1077-5463
1741-2986
language eng
recordid cdi_proquest_journals_2487744616
source SAGE Complete
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
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-29T05%3A44%3A25IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Stabilization%20and%20disturbance%20attenuation%20control%20of%20the%20gyroscopic%20inverted%20pendulum&rft.jtitle=Journal%20of%20vibration%20and%20control&rft.au=Wasiwitono,%20Unggul&rft.date=2021-02&rft.volume=27&rft.issue=3-4&rft.spage=415&rft.epage=425&rft.pages=415-425&rft.issn=1077-5463&rft.eissn=1741-2986&rft_id=info:doi/10.1177/1077546320929143&rft_dat=%3Cproquest_cross%3E2487744616%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2487744616&rft_id=info:pmid/&rft_sage_id=10.1177_1077546320929143&rfr_iscdi=true