Thi-Van-Anh NguyenThis email address is being protected from spambots. You need JavaScript enabled to view it., Ngoc-Hiep Tran
School of Electrical and Electronic Engineering, Hanoi University of Science and Technology
Received: June 8, 2023 Accepted: July 31, 2023 Publication Date: October 3, 2023
Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.
This paper addresses the challenging control problem of stabilizing an inverted pendulum on a cart. The inherent nonlinearity, instability, and underactuation of the system pose significant difficulties in achieving simultaneous pendulum stabilization and cart movement. To overcome these challenges, we propose an integrated approach that combines Linear Quadratic Regulator (LQR) and fuzzy logic control methods. This integrated control strategy effectively stabilizes the pendulum and controls the cart’s position. Notably, the integrated control outperforms the LQR control in terms of convergence speed. Furthermore, we explore the use of observers for state estimation, specifically the high-order integral-chain differentiator and the extended state observer, to accurately estimate pendulum angular velocity. Simulation results, along with detailed discussions, are presented to validate the accuracy and effectiveness of the proposed control methods and observers.
Keywords: Inverted pendulum; Fuzzy logic control; Linear quadratic regulator; Extended state observer; High-order integral-chain differentiator
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