Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart
A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator o...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/8271584 |
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| author | Mayra Antonio-Cruz Victor Manuel Hernández-Guzmán Ramón Silva-Ortigoza Gilberto Silva-Ortigoza |
| author_facet | Mayra Antonio-Cruz Victor Manuel Hernández-Guzmán Ramón Silva-Ortigoza Gilberto Silva-Ortigoza |
| author_sort | Mayra Antonio-Cruz |
| collection | DOAJ |
| description | A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator of the mechanism. This control strategy has been recently introduced and applied by the authors to eliminate the limit cycle in the Furuta pendulum and the pendubot systems. Hence, the main aim of the present paper is to study the applicability of the control strategy to eliminate the limit cycle in the inverted pendulum on a cart. The successful results that are obtained in experiments corroborate that the approach introduced by the authors to eliminate the limit cycle in the Furuta pendulum and pendubot is also valid for the inverted pendulum on a cart. |
| format | Article |
| id | doaj-art-3ae2be9b378b47e79687925daaff0dc2 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-3ae2be9b378b47e79687925daaff0dc22025-02-03T05:44:14ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/82715848271584Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a CartMayra Antonio-Cruz0Victor Manuel Hernández-Guzmán1Ramón Silva-Ortigoza2Gilberto Silva-Ortigoza3Instituto Politécnico Nacional, CIDETEC, Área de Mecatrónica y Energía Renovable, 07700 Mexico City, MexicoUniversidad Autónoma de Querétaro, Facultad de Ingeniería, 76010 Querétaro, QRO, MexicoInstituto Politécnico Nacional, CIDETEC, Área de Mecatrónica y Energía Renovable, 07700 Mexico City, MexicoBenemérita Universidad Autónoma de Puebla, Facultad de Ciencias Físico Matemáticas, 72570 Puebla, PUE, MexicoA frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator of the mechanism. This control strategy has been recently introduced and applied by the authors to eliminate the limit cycle in the Furuta pendulum and the pendubot systems. Hence, the main aim of the present paper is to study the applicability of the control strategy to eliminate the limit cycle in the inverted pendulum on a cart. The successful results that are obtained in experiments corroborate that the approach introduced by the authors to eliminate the limit cycle in the Furuta pendulum and pendubot is also valid for the inverted pendulum on a cart.http://dx.doi.org/10.1155/2019/8271584 |
| spellingShingle | Mayra Antonio-Cruz Victor Manuel Hernández-Guzmán Ramón Silva-Ortigoza Gilberto Silva-Ortigoza Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart Complexity |
| title | Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart |
| title_full | Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart |
| title_fullStr | Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart |
| title_full_unstemmed | Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart |
| title_short | Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart |
| title_sort | implementation of a controller to eliminate the limit cycle in the inverted pendulum on a cart |
| url | http://dx.doi.org/10.1155/2019/8271584 |
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