Design and Implementation of a Discrete-PDC Controller for Stabilization of an Inverted Pendulum on a Self-Balancing Car Using a Convex Approach

Autor:	Yasmani González-Cárdenas, Francisco-Ronay López-Estrada, Víctor Estrada-Manzo, Joaquin Dominguez-Zenteno, Manuel López-Pérez
Jazyk:	angličtina
Rok vydání:	2024
Předmět:	self-balancing inverted pendulum controller design TS system trajectory tracking Applied mathematics. Quantitative methods T57-57.97 Mathematics QA1-939 Electronic computers. Computer science QA75.5-76.95
Zdroj:	Mathematical and Computational Applications, Vol 29, Iss 5, p 83 (2024)
Druh dokumentu:	article
ISSN:	2297-8747 1300-686X
DOI:	10.3390/mca29050083
Popis:	This paper presents a trajectory-tracking controller of an inverted pendulum system on a self-balancing differential drive platform. First, the system modeling is described by considering approximations of the swing angles. Subsequently, a discrete convex representation of the system via the nonlinear sector technique is obtained, which considers the nonlinearities associated with the nonholonomic constraint. The design of a discrete parallel distributed compensation controller is achieved through an alternative method due to the presence of uncontrollable points that avoid finding a solution for the entire polytope. Finally, simulations and experimental results using a prototype illustrate the effectiveness of the proposal.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/886383aa86114051a161fc424441c9ec Zobrazit plný text záznamu View record in DOAJ