Title: Non-linear controller for stabilisation control of a cart-type inverted pendulum system

Authors: Tomohiro Henmi; Mingcong Deng; Akira Inoue

Addresses: Department of Electro-Mechanical Engineering, Kagawa National College of Technology, 355 Chokushicho, Takamatsu, Kagawa 761-8058, Japan. ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo, Japan. ' Okayama University, 3-1-1 Tsushima, Okayama 700-8530, Japan

Abstract: This paper discusses a stabilisation control of a cart-type inverted pendulum system (CIPS). In general, a state feedback controller with linear approximation of the pendulum around its equilibrium point is used for this control and it can not guarantee stability and needs large amounts of a control input in case a control is started at system|s states away from the equilibrium point. Then, in this paper, a new non-linear controller which guarantees stabilising for widespread states of the systems is proposed. In the proposed controller, at first, we designed a reference function for the angular position of the pendulum by analysing a necessary movement of the cart to keep any angle of the pendulum (Step 1). And, a tracking controller which can track pendulum to the reference angular position decided in Step 1 is designed by partial linearisation method (Step 2). Simulation results are given to show the effectiveness of the proposed controller.

Keywords: partial linearisation; cart-type inverted pendulum; ZeroDynamics analysis; stabilisation control; nonlinear controllers; state feedback control; tracking control; simulation.

DOI: 10.1504/IJAMECHS.2011.042618

International Journal of Advanced Mechatronic Systems, 2011 Vol.3 No.3, pp.220 - 229

Published online: 19 Sep 2011 *

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