Modeling and control of a spherical inverted pendulum with actuator saturation
Date of Original Version
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.
ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
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.