Development and balancing control of an X-Y planar inverted pendulum | |
| Author | Suppachai Howimanporn |
| Subject(s) | Balancing of machinery Pendulum -- Automatic control |
| Note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | An X-Y planar inverted pendulum is considered as a system representing nonlinear, multivariable, and unstable classifications. Control of the X-Y planar inverted pendulum requires a careful consideration. Furthermore, determination of optimal control parameters of the X-Y planar inverted pendulum is still complicated and challenging. In this dissertation, novel design techniques to efficiently balance the X-Y planar inverted pendulum are proposed. Initially, a prototype of X-Y planar inverted pendulum and its mathematical model are developed as an experimental platform. The pendulum system consists of omni-wheels, two-planar actuators and control parts as well as a number of sensors. In addition, a dynamics mathematical model of the physical system is expressed in state-space formulation. Various control algorithms are then applied to the built hardware in order to compare its performance. In this experiment, the proportional integral and derivative (PID), linear quadratic regulator (LQR), and sliding mode control (SMC) based controllers are used to balance the X-Y planar inverted pendulum. The experimental results show that SMC based controller outperforms the others. On the other hand, use of PID leads to lack of robustness since its responses against disturbance have large degree of fluctuation, whereas for the LQR controller, the disturbance can even bring the system to failure state. Finally, Particle Swarm Optimization (PSO) algorithm is applied to optimize key parameters of the robust SMC based controller to improve the efficacy in balancing of the X-Y planar inverted pendulum. Unlike the previous approaches, the cost function in SMC parameter optimization is defined as finite time of integration of square of states and control signal. The optimal gain matrix is determined offline using PSO, and consequently applied to the actual system to verify the performance of the proposed technique. The experimental results of balancing angle show that the PSO based SMC can efficiently balance the X-Y planar inverted pendulum compared to the traditional SMC approach |
| Year | 2014 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Poompat Saengudomlert;Mongkol Ekpanyapong;Caro, Stephane ; |
| Scholarship Donor(s) | Royal Thai Government ;Rajamangala University of Technology Phra Nakhon; |