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Balance Control for Inverted Pendulum System via SGCMG

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

It is crucial to study the self-balance problem of an inverted pendulum with non-holonomic constraints. For the balance control of inverted pendulum systems, there are now issues with insufficient robustness, a short control range, and a complex controller design. The fuzzy PD control method is a new control approach that is proposed in this paper. Firstly, with a single gimbal control moment gyro (SGCMG), a dynamic model of the inverted pendulum is established and a dynamic analysis is carried out. Secondly, certain important parameters are specified, including PID control parameters and fuzzy domain, and variables like SGCMG pitch rate and inverted pendulum rolling angle are defined. Thirdly, some important variables are configured, like the fuzzy domain and PID control parameters. Finally, using the Matlab-Adams co-simulation, the effects of this technique on the stability of the inverted pendulum is confirmed. The simulation results ultimately demonstrate the effectiveness and viability of the suggested fuzzy PD control method, which can effectively increase the stability of the inverted pendulum.

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Acknowledgments

This research is supported by Research Innovation Fund for Collage Students of Beijing University of Posts and Telecommunications (Project No. 202212048).

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Authors and Affiliations

  1. School of Modern Post (School of Automation), Beijing University of Posts and Telecommunications, Beijing, 100876, China

    Bowen Tang, Xinrong Yan & Ming Chu

Authors
  1. Bowen Tang
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  2. Xinrong Yan
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  3. Ming Chu
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Corresponding author

Correspondence to Ming Chu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Tang, B., Yan, X., Chu, M. (2023). Balance Control for Inverted Pendulum System via SGCMG. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_11

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_11

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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