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Related Experiment Video

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Simultaneous planning and executing (SPAE) control for a fourth-order underactuated inverted pendulum with

Yang Qu1, Zhou Liu2, Lilong Cai3

  • 1School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, China.

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|May 15, 2025
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Summary
This summary is machine-generated.

A novel control method for cart-type inverted pendulums ensures stability by asynchronously converging subsystems. This simultaneous planning and executing (SPAE) approach offers superior performance without needing precise models or parameter tuning.

Keywords:
Cart-type inverted pendulumDouble-layer asynchronous convergenceFourth-order underactuated systemSPAE control

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Area of Science:

  • Robotics and Control Systems
  • Mechanical Engineering
  • Applied Mathematics

Background:

  • The cart-type inverted pendulum is a common fourth-order underactuated system with broad industrial relevance.
  • Stability control of such systems presents significant engineering challenges.
  • Existing control methods often require accurate nonlinear models and parameter optimization.

Purpose of the Study:

  • To introduce a new control method for enhancing the stability of cart-type inverted pendulums.
  • To address the underactuated nature of the system through a novel control strategy.
  • To develop a method that is robust to model uncertainties and parameter variations.

Main Methods:

  • The system is decomposed into two second-order subsystems: an inner-layer for the rod dynamics and an outer-layer for the cart dynamics.
  • A simultaneous planning and executing (SPAE) control strategy is developed using double-layer polynomial planning.
  • The method enables asynchronous convergence of the subsystems in distinct time intervals.

Main Results:

  • The proposed SPAE control method successfully achieves double-layer asynchronous convergence.
  • Simulated and experimental results validate the effectiveness of the control strategy.
  • The method demonstrates superior performance compared to existing feedback control approaches.

Conclusions:

  • The developed SPAE control method provides an effective solution for stabilizing cart-type inverted pendulums.
  • The approach eliminates the need for precise system models and parameter optimization.
  • This technique offers a robust and superior alternative for industrial applications of inverted pendulum systems.