Euler-lagrange based dynamic model of double rotary inverted pendulum
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...
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my.um.eprints.357222023-11-27T04:40:46Z http://eprints.um.edu.my/35722/ Euler-lagrange based dynamic model of double rotary inverted pendulum Hamza, Mukhtar Fatihu Adamu, Jamilu Kamilu Isa, Abdulbasid Ismail TJ Mechanical engineering and machinery 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. © Springer Nature Singapore Pte Ltd 2021. Springer Science 2021 Article PeerReviewed Hamza, Mukhtar Fatihu and Adamu, Jamilu Kamilu and Isa, Abdulbasid Ismail (2021) Euler-lagrange based dynamic model of double rotary inverted pendulum. Lecture Notes in Electrical Engineering, 666. pp. 419-434. ISSN 1876-1100, DOI https://doi.org/10.1007/978-981-15-5281-6_29 <https://doi.org/10.1007/978-981-15-5281-6_29>. 10.1007/978-981-15-5281-6_29 |
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TJ Mechanical engineering and machinery Hamza, Mukhtar Fatihu Adamu, Jamilu Kamilu Isa, Abdulbasid Ismail Euler-lagrange based dynamic model of double rotary inverted pendulum |
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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. © Springer Nature Singapore Pte Ltd 2021. |
format |
Article |
author |
Hamza, Mukhtar Fatihu Adamu, Jamilu Kamilu Isa, Abdulbasid Ismail |
author_facet |
Hamza, Mukhtar Fatihu Adamu, Jamilu Kamilu Isa, Abdulbasid Ismail |
author_sort |
Hamza, Mukhtar Fatihu |
title |
Euler-lagrange based dynamic model of double rotary inverted pendulum |
title_short |
Euler-lagrange based dynamic model of double rotary inverted pendulum |
title_full |
Euler-lagrange based dynamic model of double rotary inverted pendulum |
title_fullStr |
Euler-lagrange based dynamic model of double rotary inverted pendulum |
title_full_unstemmed |
Euler-lagrange based dynamic model of double rotary inverted pendulum |
title_sort |
euler-lagrange based dynamic model of double rotary inverted pendulum |
publisher |
Springer Science |
publishDate |
2021 |
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http://eprints.um.edu.my/35722/ |
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