Real-Time Swing-up and Stabilization Control of a Cart-Pole with Constrained Cart Movement

What is it about?

By reading this article, the researchers can get the idea about how to model and control a physical system. Further, how to simulate a unstable system and compare the simulation (theoretical) results with the experimental results. Finally, how to develop different kind to controllers and compare their performance.

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Why is it important?

The following key features are addressed in this work: 1. In order to restrict the cart movement within acceptable track length limits, the authors used the non-zero initial condition of the cart-velocity. 2. To obtain more realistic results, the actuator dynamics (Panasonic AC servo motor) is considered in the mathematical modeling. 3. The swing-up controller with non-zero initial cart velocity, is very easy to tune. As compared to other energy-based controller, the proposed controller uses only one parameter to be tuned. 4. Algorithm is used along swing-up controller, in which constrained is used that ϕ ̇>0 if x ̇ < 0 and vice-versa. 5. The present work also reports the comparison of LQRC with PPC experimentally. It is found that LQRC outperforms the PPC in terms of reduction in control input and oscillations of cart and pendulum displacement. 6. The robustness of the proposed controller is demonstrated