Constrained H∞/LTR control design for a mobile inverted pendulum

Andri Ashfahanil; Galih Bangga; Slamet Budiprayitno; Agus Yulianto; Devi Ratnasari

doi:10.1063/1.4968338

Constrained H_∞/LTR control design for a mobile inverted pendulum

Andri Ashfahanil^*, Galih Bangga, Slamet Budiprayitno, Agus Yulianto, Devi Ratnasari

^*Corresponding author for this work

Laboratory of Cyber Physical, Industrial Robotics, and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Stabilization problems for a mobile inverted pendulum are difficult because it is an unstable nonlinear system, and not all the states are available. This study demonstrated a combination of constrained H_∞ and loop transfer recovery (LTR) to control a mobile inverted pendulum. First, the linear model of a mobile inverted pendulum is derived via linearization around the operating point. Next, controller gain is calculated by using constrained H_∞ theory. And then the Kalman filter is developed. The LTR is then applied to recover the robustness property of the controller. The experiment results that the controller not only can guarantee the satisfaction of constraints with the existence of disturbance but also can stabilize a mobile inverted pendulum; it is verified by the time-domain response. The frequency domain responses show that the LTR method can recover the robustness of the original controller.

Original language	English
Title of host publication	International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016
Editors	Budi Kristiawan, Agung Tri Wijayanta, Dominicus Danardono, Budi Santoso, Miftahul Anwar, Triyono, Syamsul Hadi, Joko Triyono, Eko Surojo, Dody Ariawan, Ubaidillah, Suyitno, Nurul Muhayat
Publisher	American Institute of Physics Inc.
ISBN (Electronic)	9780735414525
DOIs	https://doi.org/10.1063/1.4968338
Publication status	Published - 3 Jan 2017
Event	1st International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016 - Solo, Indonesia Duration: 3 Aug 2016 → 5 Aug 2016

Publication series

Name	AIP Conference Proceedings
Volume	1788
ISSN (Print)	0094-243X
ISSN (Electronic)	1551-7616

Conference

Conference	1st International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016
Country/Territory	Indonesia
City	Solo
Period	3/08/16 → 5/08/16

Access to Document

10.1063/1.4968338

Cite this

Ashfahanil, A., Bangga, G., Budiprayitno, S., Yulianto, A., & Ratnasari, D. (2017). Constrained H_∞/LTR control design for a mobile inverted pendulum. In B. Kristiawan, A. T. Wijayanta, D. Danardono, B. Santoso, M. Anwar, Triyono, S. Hadi, J. Triyono, E. Surojo, D. Ariawan, Ubaidillah, Suyitno, & N. Muhayat (Eds.), International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016 Article 030085 (AIP Conference Proceedings; Vol. 1788). American Institute of Physics Inc.. https://doi.org/10.1063/1.4968338

Ashfahanil, Andri ; Bangga, Galih ; Budiprayitno, Slamet et al. / Constrained H_∞/LTR control design for a mobile inverted pendulum. International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016. editor / Budi Kristiawan ; Agung Tri Wijayanta ; Dominicus Danardono ; Budi Santoso ; Miftahul Anwar ; Triyono ; Syamsul Hadi ; Joko Triyono ; Eko Surojo ; Dody Ariawan ; Ubaidillah ; Suyitno ; Nurul Muhayat. American Institute of Physics Inc., 2017. (AIP Conference Proceedings).

@inproceedings{7c9498bd03cb445dbcc3afaec83d7c0b,

title = "Constrained H∞/LTR control design for a mobile inverted pendulum",

abstract = "Stabilization problems for a mobile inverted pendulum are difficult because it is an unstable nonlinear system, and not all the states are available. This study demonstrated a combination of constrained H∞ and loop transfer recovery (LTR) to control a mobile inverted pendulum. First, the linear model of a mobile inverted pendulum is derived via linearization around the operating point. Next, controller gain is calculated by using constrained H∞ theory. And then the Kalman filter is developed. The LTR is then applied to recover the robustness property of the controller. The experiment results that the controller not only can guarantee the satisfaction of constraints with the existence of disturbance but also can stabilize a mobile inverted pendulum; it is verified by the time-domain response. The frequency domain responses show that the LTR method can recover the robustness of the original controller.",

author = "Andri Ashfahanil and Galih Bangga and Slamet Budiprayitno and Agus Yulianto and Devi Ratnasari",

note = "Publisher Copyright: {\textcopyright} 2016 Author(s).; 1st International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016 ; Conference date: 03-08-2016 Through 05-08-2016",

year = "2017",

month = jan,

day = "3",

doi = "10.1063/1.4968338",

language = "English",

series = "AIP Conference Proceedings",

publisher = "American Institute of Physics Inc.",

editor = "Budi Kristiawan and Wijayanta, {Agung Tri} and Dominicus Danardono and Budi Santoso and Miftahul Anwar and Triyono and Syamsul Hadi and Joko Triyono and Eko Surojo and Dody Ariawan and Ubaidillah and Suyitno and Nurul Muhayat",

booktitle = "International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016",

}

Ashfahanil, A, Bangga, G, Budiprayitno, S, Yulianto, A & Ratnasari, D 2017, Constrained H_∞/LTR control design for a mobile inverted pendulum. in B Kristiawan, AT Wijayanta, D Danardono, B Santoso, M Anwar, Triyono, S Hadi, J Triyono, E Surojo, D Ariawan, Ubaidillah, Suyitno & N Muhayat (eds), International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016., 030085, AIP Conference Proceedings, vol. 1788, American Institute of Physics Inc., 1st International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016, Solo, Indonesia, 3/08/16. https://doi.org/10.1063/1.4968338

Constrained H_∞/LTR control design for a mobile inverted pendulum. / Ashfahanil, Andri; Bangga, Galih; Budiprayitno, Slamet et al.
International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016. ed. / Budi Kristiawan; Agung Tri Wijayanta; Dominicus Danardono; Budi Santoso; Miftahul Anwar; Triyono; Syamsul Hadi; Joko Triyono; Eko Surojo; Dody Ariawan; Ubaidillah; Suyitno; Nurul Muhayat. American Institute of Physics Inc., 2017. 030085 (AIP Conference Proceedings; Vol. 1788).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Constrained H∞/LTR control design for a mobile inverted pendulum

AU - Ashfahanil, Andri

AU - Bangga, Galih

AU - Budiprayitno, Slamet

AU - Yulianto, Agus

AU - Ratnasari, Devi

PY - 2017/1/3

Y1 - 2017/1/3

N2 - Stabilization problems for a mobile inverted pendulum are difficult because it is an unstable nonlinear system, and not all the states are available. This study demonstrated a combination of constrained H∞ and loop transfer recovery (LTR) to control a mobile inverted pendulum. First, the linear model of a mobile inverted pendulum is derived via linearization around the operating point. Next, controller gain is calculated by using constrained H∞ theory. And then the Kalman filter is developed. The LTR is then applied to recover the robustness property of the controller. The experiment results that the controller not only can guarantee the satisfaction of constraints with the existence of disturbance but also can stabilize a mobile inverted pendulum; it is verified by the time-domain response. The frequency domain responses show that the LTR method can recover the robustness of the original controller.

AB - Stabilization problems for a mobile inverted pendulum are difficult because it is an unstable nonlinear system, and not all the states are available. This study demonstrated a combination of constrained H∞ and loop transfer recovery (LTR) to control a mobile inverted pendulum. First, the linear model of a mobile inverted pendulum is derived via linearization around the operating point. Next, controller gain is calculated by using constrained H∞ theory. And then the Kalman filter is developed. The LTR is then applied to recover the robustness property of the controller. The experiment results that the controller not only can guarantee the satisfaction of constraints with the existence of disturbance but also can stabilize a mobile inverted pendulum; it is verified by the time-domain response. The frequency domain responses show that the LTR method can recover the robustness of the original controller.

UR - http://www.scopus.com/inward/record.url?scp=85010949825&partnerID=8YFLogxK

U2 - 10.1063/1.4968338

DO - 10.1063/1.4968338

M3 - Conference contribution

AN - SCOPUS:85010949825

T3 - AIP Conference Proceedings

BT - International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016

A2 - Kristiawan, Budi

A2 - Wijayanta, Agung Tri

A2 - Danardono, Dominicus

A2 - Santoso, Budi

A2 - Anwar, Miftahul

A2 - Triyono, null

A2 - Hadi, Syamsul

A2 - Triyono, Joko

A2 - Surojo, Eko

A2 - Ariawan, Dody

A2 - Ubaidillah, null

A2 - Suyitno, null

A2 - Muhayat, Nurul

PB - American Institute of Physics Inc.

T2 - 1st International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016

Y2 - 3 August 2016 through 5 August 2016

ER -

Ashfahanil A, Bangga G, Budiprayitno S, Yulianto A, Ratnasari D. Constrained H_∞/LTR control design for a mobile inverted pendulum. In Kristiawan B, Wijayanta AT, Danardono D, Santoso B, Anwar M, Triyono, Hadi S, Triyono J, Surojo E, Ariawan D, Ubaidillah, Suyitno, Muhayat N, editors, International Conference on Engineering, Science and Nanotechnology 2016, ICESNANO 2016. American Institute of Physics Inc. 2017. 030085. (AIP Conference Proceedings). doi: 10.1063/1.4968338