A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart
This paper presents a comprehensive study on the application of advanced control methods to the Double Inverted Pendulum on a Cart (DIPC) system. The focus is on the design and implementation of swing-up control laws, balancing strategies, and disturbance rejection techniques to achieve robust syste...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10972007/ |
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| author | Dinh-Hong Nguyen Duc-Binh Pham Thi-van-Anh Nguyen Ngoc-Tam Bui |
| author_facet | Dinh-Hong Nguyen Duc-Binh Pham Thi-van-Anh Nguyen Ngoc-Tam Bui |
| author_sort | Dinh-Hong Nguyen |
| collection | DOAJ |
| description | This paper presents a comprehensive study on the application of advanced control methods to the Double Inverted Pendulum on a Cart (DIPC) system. The focus is on the design and implementation of swing-up control laws, balancing strategies, and disturbance rejection techniques to achieve robust system stability. The control scheme integrates energy-based controllers (EC) with stabilizing controllers based on sliding mode control (SMC), including a variant incorporating the H-infinity norm, to address the challenges of swinging up and stabilizing the pendulums and the overall DIPC system. Simulation results demonstrate the effectiveness of these controllers in bringing the DIPC system from the Down-Down position to the Up-Up position. During the transition from Down-Down to Up-Down, the SMC controller combined with the H-infinity norm has shown superior performance in reducing disturbance effects compared to traditional SMC controllers. The proposed control framework is expected to contribute significantly to the control of nonlinear and complex systems like DIPC, with potential applications in various fields. |
| format | Article |
| id | doaj-art-05f4cfe973ee4597a19faab0d1c3bc57 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-05f4cfe973ee4597a19faab0d1c3bc572025-08-20T02:20:23ZengIEEEIEEE Access2169-35362025-01-0113708117082710.1109/ACCESS.2025.356294510972007A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a CartDinh-Hong Nguyen0Duc-Binh Pham1Thi-van-Anh Nguyen2https://orcid.org/0000-0002-5290-5296Ngoc-Tam Bui3https://orcid.org/0000-0003-0437-6104School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, VietnamSchool of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, VietnamSchool of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, VietnamInnovative Global Program, Shibaura Institute of Technology, Saitama, JapanThis paper presents a comprehensive study on the application of advanced control methods to the Double Inverted Pendulum on a Cart (DIPC) system. The focus is on the design and implementation of swing-up control laws, balancing strategies, and disturbance rejection techniques to achieve robust system stability. The control scheme integrates energy-based controllers (EC) with stabilizing controllers based on sliding mode control (SMC), including a variant incorporating the H-infinity norm, to address the challenges of swinging up and stabilizing the pendulums and the overall DIPC system. Simulation results demonstrate the effectiveness of these controllers in bringing the DIPC system from the Down-Down position to the Up-Up position. During the transition from Down-Down to Up-Down, the SMC controller combined with the H-infinity norm has shown superior performance in reducing disturbance effects compared to traditional SMC controllers. The proposed control framework is expected to contribute significantly to the control of nonlinear and complex systems like DIPC, with potential applications in various fields.https://ieeexplore.ieee.org/document/10972007/Double inverted pendulumswing-upsliding mode controllinear matrix inequalityH-infinity |
| spellingShingle | Dinh-Hong Nguyen Duc-Binh Pham Thi-van-Anh Nguyen Ngoc-Tam Bui A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart IEEE Access Double inverted pendulum swing-up sliding mode control linear matrix inequality H-infinity |
| title | A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart |
| title_full | A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart |
| title_fullStr | A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart |
| title_full_unstemmed | A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart |
| title_short | A Hybrid Control Framework for Swing-Up and Stabilization of the Double Inverted Pendulum on a Cart |
| title_sort | hybrid control framework for swing up and stabilization of the double inverted pendulum on a cart |
| topic | Double inverted pendulum swing-up sliding mode control linear matrix inequality H-infinity |
| url | https://ieeexplore.ieee.org/document/10972007/ |
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