TY - GEN
T1 - Euler-lagrange based dynamic model of double rotary inverted pendulum
AU - Hamza, Mukhtar Fatihu
AU - Adamu, Jamilu Kamilu
AU - Isa, Abdulbasid Ismail
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd 2021.
PY - 2021
Y1 - 2021
N2 - Double Rotary inverted pendulum (DRIP) is an important member of nonlinear, unstable, non-minimum phase, and under-actuated mechanical systems. The DRIP is known widely as experimental setup for testing different kind of control algorithms. This paper, described a development of nonlinear dynamical equations of the DRIP system using Euler-Lagrange methods. Euler-Lagrange methods does not requisite complicated and tedious formulation since DRIP is not large multi-body system. The linear model and state space representation was also presented. The Simulink model of DRIP was developed based on the derived equations. Simulation study was carried out and the results indicated that, the DRIP system is inherently nonlinear and unstable. It is realized that the difficulties and limitations in the previous dynamic equation of DRIP proposed in literature are eliminated. Euler-Lagrange methods can be regarded as an alternative method for finding the dynamic model of the systems.
AB - Double Rotary inverted pendulum (DRIP) is an important member of nonlinear, unstable, non-minimum phase, and under-actuated mechanical systems. The DRIP is known widely as experimental setup for testing different kind of control algorithms. This paper, described a development of nonlinear dynamical equations of the DRIP system using Euler-Lagrange methods. Euler-Lagrange methods does not requisite complicated and tedious formulation since DRIP is not large multi-body system. The linear model and state space representation was also presented. The Simulink model of DRIP was developed based on the derived equations. Simulation study was carried out and the results indicated that, the DRIP system is inherently nonlinear and unstable. It is realized that the difficulties and limitations in the previous dynamic equation of DRIP proposed in literature are eliminated. Euler-Lagrange methods can be regarded as an alternative method for finding the dynamic model of the systems.
KW - Dynamic model
KW - Euler-Lagrange
KW - Nonlinear system
KW - Rotary inverted pendulum
UR - http://www.scopus.com/inward/record.url?scp=85088511173&partnerID=8YFLogxK
U2 - 10.1007/978-981-15-5281-6_29
DO - 10.1007/978-981-15-5281-6_29
M3 - Conference contribution
AN - SCOPUS:85088511173
SN - 9789811552809
T3 - Lecture Notes in Electrical Engineering
SP - 419
EP - 434
BT - Proceedings of the 11th National Technical Seminar on Unmanned System Technology, NUSYS 2019
A2 - Md Zain, Zainah
A2 - Ahmad, Hamzah
A2 - Pebrianti, Dwi
A2 - Mustafa, Mahfuzah
A2 - Abdullah, Nor Rul Hasma
A2 - Samad, Rosdiyana
A2 - Mat Noh, Maziyah
PB - Springer
T2 - 11th National Technical Symposium on Unmanned System Technology, NUSYS 2019
Y2 - 2 December 2019 through 3 December 2019
ER -