Title
Modeling and control of a spherical inverted pendulum with actuator saturation
Document Type
Conference Proceeding
Date of Original Version
1-1-2019
Abstract
This paper studies the modeling and control of a spherical inverted pendulum (SIP). The SIP is deemed to be a reasonable model for rocket-propelled body and is often used to test advanced control strategies. The mathematic model is derived based on a Quanser two degrees-of-freedom inverted pendulum commercial product. The pendulum is mounted on a five-bar mechanism that is actuated by two rotary servo base units. Unlike conventional assumption that the two motors are allowed to rotate simultaneously, we assume a more challenging scenario that at one time only one motor is working. The system is hence modeled as a switched system as two motors have to be switched in order to balance the pendulum at its unstable equilibrium. Switched controllers, together with a switching strategy are developed to ensure the stability of the system and satisfy a disturbance attenuation performance index. Simulation results are presented to show the effectiveness of the proposed method.
Publication Title, e.g., Journal
ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume
4
Citation/Publisher Attribution
Bondo, Geovani, Chengzhi Yuan, and Chang Duan. "Modeling and control of a spherical inverted pendulum with actuator saturation." ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) 4, (2019). doi: 10.1115/IMECE2019-11401.