Comparative Analysis of SMC-LMI and LQR Controllers for Double Inverted Pendulum

• Tác giả: Ma-Sieu Phan, Thanh-Cong Do, Thi-Van-Anh Nguyen, Van-Quy Truong
• Ngôn ngữ: eng
• Thông tin xuất bản: Chuyên san Đo lường, Điều khiển và Tự động hóa, 2024
• Mô tả vật lý: tr.45664
• Bộ sưu tập: Metadata
• ID: 459506

Tóm tắt

This paper introduces an innovative method for achieving stability of the highly nonlinear and unstable double inverted pendulum using acombination of linear matrix inequality (LMI) techniques and sliding mode control (SMC). Sliding mode control is a widely used techniquefor stabilizing the highly unstable and nonlinear double inverted pendulum system. The LMI-based approach is well-suited for handlingsystem uncertainties and constraints, making it a potent tool for robust control design. Compared to other nonlinear control methods, the LMIapproach is more computationally efficient and simpler to implement. The controller proposed in this study is evaluated alongside the LinearQuadratic Regulator (LQR) controller to demonstrate its superior performance. The simulation results obtained through the proposed controllerdemonstrate its effectiveness in stabilizing the double inverted pendulum.