Jindi Shao

Bio: Jindi Shao is an academic researcher from Lancaster University. The author has contributed to research in topics: Double inverted pendulum & Pendulum. The author has an hindex of 1, co-authored 1 publications receiving 36 citations.

Swing-up control of inverted pendulum systems

Abstract: In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust. In Part II the technique is extended to the case of the swing-up control of double inverted pendulum systems. Use is made of a novel selective partial-state feedback control law. The nonlinear, open-loop unstable, nonminimum-phase. and interactive MIMO pendulum system is actively linearised and decoupled about a neutrally stable equilibrium by the partial-state feedback control. This technique for swing-up control is not at all sensitive to uncertainties such as modelling error and sensor noise, and is both reliable and robust.

Energy and passivity based control of the double inverted pendulum on a cart

Abstract: The paper considers the design of a nonlinear controller for the double inverted pendulum (DIP), a system consisting of two inverted pendulums mounted on a cart. The swingup controller bringing the pendulums from any initial position to the unstable up-up position is designed based on passivity properties and energy shaping. While the swingup controller drives the DIP into a region of attraction around the unstable up-up position, the balance controller designed on the basis of the linearized model stabilizes the DIP at the unstable equilibrium. The simulation results show the effectiveness of the proposed nonlinear design method for the DIP system.

Swing-up control of an inverted pendulum by energy-based methods

Abstract: The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum.

Event-Based Control of the Inverted Pendulum: Swing up and Stabilization

Abstract: Contrary to the classical (time-triggered) principle that calculates the control signal in a periodic fashion, an event-driven control is computed and updated only when a certain condition is satisfied. This notably allows to save computations in the control task while ensuring equivalent performance. In this paper, we develop and implement such strategies to control a nonlinear and unstable system, that is the inverted pendulum. We firstly propose to apply an event-based approach previously developed in Marchand et al . (2011, 2013) for the stabilization of the pendulum near its inverted position. We then study the swinging of the pendulum up to the desired position and especially design a (low computational cost) control law for this second case, based on an energy function. The switch between both strategies is also analyzed for stability reason. A real-time experimentation is realized and notably demonstrates the efficiency of the event-based schemes, even in the case where the system has to be actively actuated to remain upright. A reduction of about 98% and 50% of samples less than the classical scheme is achieved for the swing up and stabilization parts respectively, whereas the system performance remains the same (in terms of balancing and stabilizing time or control amplitude).

Swing up and stabilization control experiments for a rotary inverted pendulum— An educational comparison

Abstract: This paper focuses on the swing up and stabilization control of a rotary inverted pendulum system with linear quadratic regulator (LQR), sliding mode control (SMC) and fuzzy logic control (FLC). The inverted pendulum, a popular control application exists in several forms and due to its widespread use for prototyping control schemes we present experimental results obtained on a rotary version of the pendulum. The paper develops the dynamical model and introduces the implementation of the considered schemes comparatively.