Effective Control Strategies for Rotary Inverted Pendulum System: Energy-based, LQR, and HSMC Techniques

Abstract

This work presents a comprehensive study of control problem for the rotary inverted pendulum (RIP), a challenging underactuated system with potential applications in robotics and aerospace. The paper develops effective swing-up energy-based control and stabilization task. It also presents two controllers, linear quadratic regulator (LQR) and hierarchical sliding mode control (HSMC), that effectively handle the stabilization problem. System modelling is based on Lagrangian mechanics, and the control strategies are evaluated using simulations and compared in terms of performance and robustness. The results demonstrate that energy-based control is effective for swing-up, while linear quadratic regulator and hierarchical sliding mode control are effective for stabilization. The proposed controllers show promising results and contribute to the development of robust and efficient control strategies for the RIP system. The study has implications for the development of control strategies for other underactuated systems and can potentially lead to advancements in the field of robotics and aerospace.