Swing Up Control Strategies for a Reaction Wheel Pendulum

K.N. Srinivas, Laxmidhar Behera

    Research output: Contribution to journalArticle

    19 Citations (Scopus)

    Abstract

    Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.
    LanguageEnglish
    Pages1165-1177
    JournalInternational Journal of System Science
    Volume39
    Issue number12
    DOIs
    Publication statusPublished - 2008

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    Srinivas, K.N. ; Behera, Laxmidhar. / Swing Up Control Strategies for a Reaction Wheel Pendulum. In: International Journal of System Science. 2008 ; Vol. 39, No. 12. pp. 1165-1177.
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    title = "Swing Up Control Strategies for a Reaction Wheel Pendulum",
    abstract = "Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.",
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    note = "Reference text: 1 Bapiraju, B., Srinivas, KN, Prem Kumar, P and Behera, L. (2004) On Balancing Control Strategies for a Reaction Wheel Pendulum. in Proceedings of the IEEE INDICON 2004, pp. 199-204. 2 Scott A. Bortoff, Approximate state-feedback linearization using spline functions, Automatica (Journal of IFAC), v.33 n.8, p.1449-1458, Aug. 1997 [doi>10.1016/S0005-1098(97)00070-8] 3 Isabelle Fantoni , Rogelio Lozano, Non-Linear Control for Underactuated Mechanical Systems, Springer-Verlag New York, Inc., Secaucus, NJ, 2001 4 Fernandez, B., Pfeiffer, C. and Edgar, JF (1999) Robust Feedback Stabilisation and Fuzzy Control. in Proceedings of the American Control Conference, pp. 1508-1514. San Diego, CA 5 He, S., Relf, K. and Unbehauen, R. (1998) A Neural Approach for Control of Nonlinear Systems with Feedback Linearisation. IEEE Transactions on Neural Networks, 9, pp. 1409-1421. 6 Alberto Isidori , M. Thoma , E. D. Sontag , B. W. Dickinson , A. Fettweis , J. L. Massey , J. W. Modestino, Nonlinear Control Systems, Springer-Verlag New York, Inc., Secaucus, NJ, 1995 7 Miroslav Krstic , Petar V. Kokotovic , Ioannis Kanellakopoulos, Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc., New York, NY, 1995 8 Lawrence, DA (1995) A General Approach to input-output Pseudolinearisation for Nonlinear Systems. IEEE Proceedings on Decision and Control, 34th Conference, pp. 613-618. New Orleans, USA 9 Ortega, R., Schaft, AJV, Mareels, I. and Maschke, B. (2001) Putting Energy Back in Control. IEEE Control Systems Magazine, 21:2, pp. 18-33. 10 Ortega, R., Schaft, AV, Maschke, B. and Escobar, G. (2002) Interconnection and Damping Assignment Passivity-based Control of Port-controlled Hamiltonian Systems. Automatica, 38, pp. 585-596. 11 Ortega, R., Spong, MW, Gomez-estern, F. and Blankenstein, G. (2002) Stabilization of a Class of Underactuated Mechanical Systems via Interconnection and Damping Assignment. IEEE Transactions on Automatic Control, 47, pp. 1218-1233. 12 Praly, L., Ortega, R. and Kaliora, G. (2001) Stabilization of Nonlinear Systems via Forwarding Mod{LgV}. IEEE Transactions on Automatic Control, 46:9, pp. 1461-1466. 13 Saber, RO (2001) Global Stabilisation of Flat Underactuated System the Inertia Wheel Pendulum. in Proceedings of 40th Conference on Decision and Control, December 2001, pp. 3764-3765. Orlando. IEEE 14 Slotine, JJE (1988) Putting Physics in Control-the Example of Robotics. IEEE Control Systems Magazine, 8:6, pp. 12-18. 15 Slotine, J-JE and Lee, W. (1991) Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, New Jersey 16 Spong, MW (1994) The Control of Underactuated Mechanical Systems. in First International Conference on Mechatronics, pp. 26-29. Mexico City 17 Spong, MW (2001) Nonlinear Control of the Inertia Wheel Pendulum. Automatica, 37, pp. 1845-1851. 18 Wang, Z., Chen, Y. and Fang, N. (2004) Minimum-time Swing-up of a Rotary Inverted Pendulum by Iterative Impulsive Control. in Proceedings of the American Control Conference, pp. 1335-1340. Boston. IEEE, USA 19 Zincober, A., Bolivar, SR and Ramirez, HS (1995) Output Tracking Control via Adaptive Input Output Linearisation: A Backstepping Approach. IEEE Proceedings on Decision and Control, 34th Conference,, 2, pp. 1579-1584. New Orleans",
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    Swing Up Control Strategies for a Reaction Wheel Pendulum. / Srinivas, K.N.; Behera, Laxmidhar.

    In: International Journal of System Science, Vol. 39, No. 12, 2008, p. 1165-1177.

    Research output: Contribution to journalArticle

    TY - JOUR

    T1 - Swing Up Control Strategies for a Reaction Wheel Pendulum

    AU - Srinivas, K.N.

    AU - Behera, Laxmidhar

    N1 - Reference text: 1 Bapiraju, B., Srinivas, KN, Prem Kumar, P and Behera, L. (2004) On Balancing Control Strategies for a Reaction Wheel Pendulum. in Proceedings of the IEEE INDICON 2004, pp. 199-204. 2 Scott A. Bortoff, Approximate state-feedback linearization using spline functions, Automatica (Journal of IFAC), v.33 n.8, p.1449-1458, Aug. 1997 [doi>10.1016/S0005-1098(97)00070-8] 3 Isabelle Fantoni , Rogelio Lozano, Non-Linear Control for Underactuated Mechanical Systems, Springer-Verlag New York, Inc., Secaucus, NJ, 2001 4 Fernandez, B., Pfeiffer, C. and Edgar, JF (1999) Robust Feedback Stabilisation and Fuzzy Control. in Proceedings of the American Control Conference, pp. 1508-1514. San Diego, CA 5 He, S., Relf, K. and Unbehauen, R. (1998) A Neural Approach for Control of Nonlinear Systems with Feedback Linearisation. IEEE Transactions on Neural Networks, 9, pp. 1409-1421. 6 Alberto Isidori , M. Thoma , E. D. Sontag , B. W. Dickinson , A. Fettweis , J. L. Massey , J. W. Modestino, Nonlinear Control Systems, Springer-Verlag New York, Inc., Secaucus, NJ, 1995 7 Miroslav Krstic , Petar V. Kokotovic , Ioannis Kanellakopoulos, Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc., New York, NY, 1995 8 Lawrence, DA (1995) A General Approach to input-output Pseudolinearisation for Nonlinear Systems. IEEE Proceedings on Decision and Control, 34th Conference, pp. 613-618. New Orleans, USA 9 Ortega, R., Schaft, AJV, Mareels, I. and Maschke, B. (2001) Putting Energy Back in Control. IEEE Control Systems Magazine, 21:2, pp. 18-33. 10 Ortega, R., Schaft, AV, Maschke, B. and Escobar, G. (2002) Interconnection and Damping Assignment Passivity-based Control of Port-controlled Hamiltonian Systems. Automatica, 38, pp. 585-596. 11 Ortega, R., Spong, MW, Gomez-estern, F. and Blankenstein, G. (2002) Stabilization of a Class of Underactuated Mechanical Systems via Interconnection and Damping Assignment. IEEE Transactions on Automatic Control, 47, pp. 1218-1233. 12 Praly, L., Ortega, R. and Kaliora, G. (2001) Stabilization of Nonlinear Systems via Forwarding Mod{LgV}. IEEE Transactions on Automatic Control, 46:9, pp. 1461-1466. 13 Saber, RO (2001) Global Stabilisation of Flat Underactuated System the Inertia Wheel Pendulum. in Proceedings of 40th Conference on Decision and Control, December 2001, pp. 3764-3765. Orlando. IEEE 14 Slotine, JJE (1988) Putting Physics in Control-the Example of Robotics. IEEE Control Systems Magazine, 8:6, pp. 12-18. 15 Slotine, J-JE and Lee, W. (1991) Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, New Jersey 16 Spong, MW (1994) The Control of Underactuated Mechanical Systems. in First International Conference on Mechatronics, pp. 26-29. Mexico City 17 Spong, MW (2001) Nonlinear Control of the Inertia Wheel Pendulum. Automatica, 37, pp. 1845-1851. 18 Wang, Z., Chen, Y. and Fang, N. (2004) Minimum-time Swing-up of a Rotary Inverted Pendulum by Iterative Impulsive Control. in Proceedings of the American Control Conference, pp. 1335-1340. Boston. IEEE, USA 19 Zincober, A., Bolivar, SR and Ramirez, HS (1995) Output Tracking Control via Adaptive Input Output Linearisation: A Backstepping Approach. IEEE Proceedings on Decision and Control, 34th Conference,, 2, pp. 1579-1584. New Orleans

    PY - 2008

    Y1 - 2008

    N2 - Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.

    AB - Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up control and balancing control schemes. In this article, two novel swing-up control strategies for a reaction wheel pendulum have been proposed. The first swing-up control strategy treats the oscillations of the pendulum as perturbations from the bottom equilibrium point. The second swing-up control is based on interconnection and damping assignment-passivity based control (IDA-PBC). IDA-PBC preserves Euler Lagrangian structure of the system and gives more physical insight about any mechanical system. Any balancing controller can be coupled with the proposed swing-up control strategies to stabilise the pendulum at the top unstable equilibrium position. The control task of balancing the pendulum in top upright position is completed by switching from swing-up scheme to the balancing scheme at the point where the pendulum is very near to the top equilibrium point. Proposed swing-up control strategies have been implemented in real time in switching mode. The two proposed swing-up control schemes provide fast responses as compared to existing energy based schemes.

    U2 - 10.1080/00207720802095137

    DO - 10.1080/00207720802095137

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    T2 - International Journal of System Science

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