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Linear control of the flywheel inverted pendulum.

Manuel Olivares1, Pedro Albertos2

  • 1Departamento de Electrónica, Universidad Técnica Federico Santa María, Valparaíso, Chile.

ISA Transactions
|February 1, 2014
PubMed
Summary

This study addresses the instability of a flywheel inverted pendulum controlled by a PID controller. Two methods, internal stabilization and observer-based control, are proposed to achieve global stability for this underactuated system.

Keywords:
Internal instabilityInverted pendulumPID control designUnderactuated systems

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • The flywheel inverted pendulum is a complex underactuated mechanical system.
  • Linear approximations of nonlinear systems are attractive for control design due to ease of tuning.
  • Previous PID control attempts resulted in internal instability.

Purpose of the Study:

  • To develop globally stable control strategies for the flywheel inverted pendulum.
  • To investigate methods for overcoming the internal instability caused by PID control.
  • To enhance the practical applicability of linear control for underactuated systems.

Main Methods:

  • Introduction of an internal stabilizing controller.
  • Replacement of the PID controller with an observer-based state feedback control.
  • Validation through simulations and experimental results.

Main Results:

  • Both proposed methods successfully achieve global stability for the flywheel inverted pendulum.
  • The observer-based state feedback control offers an effective alternative to the unstable PID controller.
  • The designs demonstrate practical effectiveness in stabilizing the system.

Conclusions:

  • Globally stable control of the flywheel inverted pendulum is achievable through advanced control techniques.
  • Observer-based state feedback provides a robust solution for underactuated systems.
  • The findings contribute to the practical implementation of stable control for nonlinear mechanical systems.