Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller

The Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and is naturally unstable. Thus, developing a system capable of controlling it goes through challenges such as modeling, design requirements, and implementation of the control hardware. This work propose...

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Detalles Bibliográficos
Autores: Donatoni, M. M. [UNESP], Chavarette, F. R. [UNESP], Preto, E., Karmouche, D. C. J. [UNESP]
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:Brasil
Institución:Universidade Estadual Paulista (UNESP)
Repositorio:Repositório Institucional da UNESP
Idioma:inglés
OAI Identifier:oai:repositorio.unesp.br:11449/303631
Acceso en línea:http://dx.doi.org/10.15282/jmes.18.2.2024.4.0791
https://hdl.handle.net/11449/303631
Access Level:acceso abierto
Palabra clave:Inverted Pendulum
Swing-up
Energy-based
LQR
Microcontroller
Arduino
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spelling Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontrollerInverted PendulumSwing-upEnergy-basedLQRMicrocontrollerArduinoThe Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and is naturally unstable. Thus, developing a system capable of controlling it goes through challenges such as modeling, design requirements, and implementation of the control hardware. This work proposes the swing -up of the linear inverted pendulum using the energy method with adjustable parameters, followed by a linear quadratic regulator controller stabilization. This work demonstrates how the system can be implemented using an Arduino microcontroller to acquire state variables and control commands. Furthermore, as a highlight, the implemented algorithm indicates a way to stabilize the sampling frequency, making the derivative process stable in the applied hardware and optimizing the control. The applied method was efficient in performing the swing -up, consistent with the simulations, and as effective as seen in the literature.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Univ Estadual Paulista, Fac Engn Ilha Solteira, BR-15385000 Ilha Solteira, SP, BrazilUniv Estadual Paulista, Inst Chem, BR-14800060 Araraquara, SP, BrazilUniv Estadual Paulista, Fac Engn Ilha Solteira, BR-15385000 Ilha Solteira, SP, BrazilUniv Estadual Paulista, Inst Chem, BR-14800060 Araraquara, SP, BrazilCAPES: 88887.678338/2022-00Univ Malaysia PahangUniversidade Estadual Paulista (UNESP)2025-04-29T19:30:13Z2024-06-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article10017-10025http://dx.doi.org/10.15282/jmes.18.2.2024.4.0791Journal Of Mechanical Engineering And Sciences. Pahang: Univ Malaysia Pahang, v. 18, n. 2, p. 10017-10025, 2024.2289-4659https://hdl.handle.net/11449/30363110.15282/jmes.18.2.2024.4.0791WOS:001260214600004Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengJournal Of Mechanical Engineering And Sciencesinfo:eu-repo/semantics/openAccessDonatoni, M. M. [UNESP]Chavarette, F. R. [UNESP]Preto, E.Karmouche, D. C. J. [UNESP]2025-05-28T07:43:37Zoai:repositorio.unesp.br:11449/303631Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestrepositoriounesp@unesp.bropendoar:29462025-05-28T07:43:37Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
title Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
spellingShingle Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
Donatoni, M. M. [UNESP]
Inverted Pendulum
Swing-up
Energy-based
LQR
Microcontroller
Arduino
title_short Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
title_full Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
title_fullStr Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
title_full_unstemmed Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
title_sort Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
dc.creator.none.fl_str_mv Donatoni, M. M. [UNESP]
Chavarette, F. R. [UNESP]
Preto, E.
Karmouche, D. C. J. [UNESP]
author Donatoni, M. M. [UNESP]
author_facet Donatoni, M. M. [UNESP]
Chavarette, F. R. [UNESP]
Preto, E.
Karmouche, D. C. J. [UNESP]
author_role author
author2 Chavarette, F. R. [UNESP]
Preto, E.
Karmouche, D. C. J. [UNESP]
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade Estadual Paulista (UNESP)
dc.subject.por.fl_str_mv Inverted Pendulum
Swing-up
Energy-based
LQR
Microcontroller
Arduino
topic Inverted Pendulum
Swing-up
Energy-based
LQR
Microcontroller
Arduino
description The Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and is naturally unstable. Thus, developing a system capable of controlling it goes through challenges such as modeling, design requirements, and implementation of the control hardware. This work proposes the swing -up of the linear inverted pendulum using the energy method with adjustable parameters, followed by a linear quadratic regulator controller stabilization. This work demonstrates how the system can be implemented using an Arduino microcontroller to acquire state variables and control commands. Furthermore, as a highlight, the implemented algorithm indicates a way to stabilize the sampling frequency, making the derivative process stable in the applied hardware and optimizing the control. The applied method was efficient in performing the swing -up, consistent with the simulations, and as effective as seen in the literature.
publishDate 2024
dc.date.none.fl_str_mv 2024-06-01
2025-04-29T19:30:13Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.15282/jmes.18.2.2024.4.0791
Journal Of Mechanical Engineering And Sciences. Pahang: Univ Malaysia Pahang, v. 18, n. 2, p. 10017-10025, 2024.
2289-4659
https://hdl.handle.net/11449/303631
10.15282/jmes.18.2.2024.4.0791
WOS:001260214600004
url http://dx.doi.org/10.15282/jmes.18.2.2024.4.0791
https://hdl.handle.net/11449/303631
identifier_str_mv Journal Of Mechanical Engineering And Sciences. Pahang: Univ Malaysia Pahang, v. 18, n. 2, p. 10017-10025, 2024.
2289-4659
10.15282/jmes.18.2.2024.4.0791
WOS:001260214600004
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Journal Of Mechanical Engineering And Sciences
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 10017-10025
dc.publisher.none.fl_str_mv Univ Malaysia Pahang
publisher.none.fl_str_mv Univ Malaysia Pahang
dc.source.none.fl_str_mv Web of Science
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv repositoriounesp@unesp.br
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score 15,301603

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