Affiliation:
1. University of Baghdad , Al-Khwarizmi College of Engineering , Mechatronics Engineering Department , Baghdad , Iraq
Abstract
Abstract
A single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form a Simscape model for simulation and test purposes. This type of modeling uses a physical grid tactic to model mechanical structures. It requires connection of the physical elements with physical signal converter to define the implicit system dynamics to be modeled. The integration between the SolidWorks and Simscape eliminates the need of deriving the mathematical model and provides a platform for the rapid controller design for the system. State feedback control scheme is proposed, designed, and tuned aiming to maintain the pendulum in the upright place while tracking the desired cart position. Several simulation cases are studied to prove the controller abilities. In order to examine the controller robustness, disturbance rejection and noise attenuation capabilities are also discovered.
Reference22 articles.
1. [1] J. Ismail and L. Steven, “Efficient Planning of Optimal Trajectory for a Furuta Double Pendulum using Discrete Mechanics and Optimal Control”, IFAC-PapersOnLine, vol. 50, no. 1, pp. 10456-10461, 2017.
2. [2] K. Andrzejewski, C. Mateusz, Z. Maciej, L. Rafał and Z. Tomasz, “A Comprehensive Approach to Double Inverted Pendulum Modelling”, Archives of Control Sciences, vol. 29, no. 3, 2019.
3. [3] T. Abut and S. Servet, “Real-Time Control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum”, Industrial Robot: the international journal of robotics research and application, vol. 46, no. 1, pp. 159–170, 2019.
4. [4] M. A. Tawfik, E. N. Abdulwahb and S. M. Swadi, “Trajectory Tracking Control for a Wheeled Mobile Robot using Fractional Order PIaDb Controller”, Al-Khwarizmi Engineering Journal, vol. 10, no. 3, pp. 39–52, 2014.
5. [5] A. H. Mary, T. Kara and A. H. Miry, “Inverse Kinematics Solution for Robotic Manipulators Based on Fuzzy Logic and PD Control”, Al-Sadeq International Conference on Multidisciplinary IT and Communication Science and Applications (AIC-MITCSA), Baghdad, Iraq, 9–10 May 2016, pp. 1–6.