Robust control based on adaptive neural network for Rotary inverted pendulum with oscillation compensation
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ORIGINAL ARTICLE
Robust control based on adaptive neural network for Rotary inverted pendulum with oscillation compensation Seyed Hassan Zabihifar1 • Arkady Semenovich Yushchenko1 • Hamed Navvabi1,2 Received: 23 May 2019 / Accepted: 24 February 2020 Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract A new stable adaptive neural network (ANN) control scheme for the Furuta pendulum, as a two-degree-of-freedom underactuated nonlinear system, is proposed in this paper. This approach aims to address the control problem of the Furuta pendulum in the steady state and also in the presence of external disturbances. The adaptive classical control laws such as e-modification present some limitations in particular when oscillations are presented in the input. To avoid this problem, two ANNs are implemented using filtered tracking error in the control loop. The first one is a single hidden layer network, used to approximate the equivalent control online, and the second is the feed-forward network, used to minimize the oscillations. The goal of the control is to bring the pendulum close to the upright position in the presence of the various uncertainties and being able to compensate oscillations and external disturbances. The main purpose of the second ANN is to minimize the chattering phenomenon and response time by finding the optimal control input signal, which also leads to the reduction of energy consumption. The learning algorithms of the two ANNs are obtained using the direct Lyapunov stability method. The simulation results are given to highlight the performances of the proposed control scheme. Keywords Adaptive neural network Oscillation compensation Rotary inverted pendulum Furuta
1 Introduction Stabilization of a Furuta pendulum has been considered as an active research area to control the engineers’ system. The rotary inverted pendulum is a popular test bed for the class of underactuated mechanical systems. Early researches on rotary inverted pendulum were motivated by the need to design controllers to balance the rockets during a Electronic supplementary material The online version of this article (https://doi.org/10.1007/s00521-020-04821-x) contains supplementary material, which is available to authorized users. & Seyed Hassan Zabihifar [email protected] Arkady Semenovich Yushchenko [email protected] Hamed Navvabi [email protected] 1
School of Mechatronic and Robotic, Bauman Moscow State Technical University (BMSTU), Moscow, Russia
2
School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
vertical take-off [1]. Nevertheless, the control algorithm developed for a rotating pendulum system can be easily extended for any other two-degree-of-freedom unstable underactuated system (e.g., Acrobot, pendubot, inertia wheel pendulum, cart-pole) [2]. The Furuta pendulum is a two-degree-of-freedom system with only one actuator. This is an inverted pendulum, classified as a nonlinear, nonminimum phase
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