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Proceedings of the 2000 IEEE International Conference on Control Applications Anchorage, Alaska, USA September 25-27,2000

Stabilization of A 2-DOF Spherical Pendulum on X-Y Table

Rong Yang, Yiu-yiu Kuen, Zexiang Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Clear Water Bay, Kowloon, Hong Kong yangr@ust.hk, eeyoyo@ust.hk, eezxli@ust.hk
Abstract The problem of balancing an inverted pendulum has been a benchmark example in demonstrating and motivating various control design techniques. In this paper, a 2 Degree of Freedom (DOF) spherical pendulum system is built up and balanced on a X-Y table. The pendulum is projected onto the x-z and y-z planes, which are parallel to the two motion directions of X-Y table. These projections are treated independently for each other and are controlled separately. The stabilization control for one dimensional inverted pendulum is proposed based on the state space approach and the Lie theoretic tools without resorting t o any direct approximation to each nonlinear term. A specially developed sensor system allows the contact-less measurement of the inclination angles of the pendulum. The experimental results are reported. In this paper, a 2-DOF spherical pendulum system was built up and balanced on a X-Y table Fig. 1. The pendulum was projected onto the z-a and y-z planes, which are parallel to the two motion directions of xy table. These projections were treated independently for each other and were controlled separately. The stabilization control for one dimensional inverted pendulum was proposed based on the state space approach and the Lie theoretic tools without resorting to any direct approximation t o each nonlinear term. A specially developed sensor system was developed t o achieve the contact-less measurement of the inclination angles of the pendulum. The system consists of a small magnet which is mounted at the bottom of the pendulum, and 2-axes magneto-resistive sensors are placed on the surface of the mounting plane.

1 Introduction

The inverted pendulum is used in many laboratories in control engineering for investigating the advanced control theory. The principal reasons of its popularity are its nonlinear and unstable characteristic, the uncertainty in the friction terms, the lack of state variables measurement and the facility t o introduce disturbance in the process. In addition, the balancing problem associated with the pendulum is of a well-known control problem, and that the result of the experiments is so attractive. The stabilization problem of inverted pendulum has been the subject of previous research[3], [4], [5], [6]. Different control methods and sensor systems have been built up for such a system. For example, much of the materials presented in [ I was illustrated an inS verted pendulum with visual sensor. Linear controller for an inverted pendulum having restricted travel has been studied in [7], where a linear state feedback design technique for balancing an inverted pendulum has been provided. 0-7803-6562-3/00$10.0002000 IEEE 724

Figure 1: A 2-DOF spherical pendulum on X-Y table

2 Mechanical Model

The experimental platform is mounted on a leading screw which is driven by a AC servo motor. The leading screw transform the rotary motion of the motor into the linear motion of the platform in one direction. The

linear motion in orthogonal direction is executed by another set of leading screw and its motor. The motion in two directions can be controlled by the input commands of two motors separately. A sensor package is fixed on the surface cf experimental platform. The pendulum tends t o be balanced on the upright position of this sensor package. The pendulum is projected onto x-z and y-z planes of the defined coordinates system in Cartesian Space as shown in fig. 2.
z

J&(t) mlZ(t)cosa(t) - mglsina(t) = 0

(4)

J&t)

+ mly(t)cosp(t) - mglsinP(t) = 0

(6)

where, (3) and (4)are for the projection on x-z plane, while (5) and (6) are for the one on y-z plane; M,, My are mass of the platform respect to x-axis and yaxis; m, 1 and J are the mass, length, and moment of inertia of inverted pendulum, respectively; CM, , C M are the friction coefficients for linear motions in x and y directions; u,(t), u,(t) are input force provided by two motors on x- and y-axes, respectively; c, and cy are scalar constants.

3 Control Strategy
Study of the modern geometric theory of nonlinear control began with early attempts t o extend results from linear control theory to the nonlinear case, such as results on controllability and observability. The differential geometric approach for the nonlinear control theory has been developed remarkably in recent years. However, most of the research are mainly focused on the theory. So, in this section, concerning to the nonlinear control theory, a differential geometric approach to the control law based on an actual inverted pendulum system is established. The effectiveness of such Lie theory can be verified from the experimental results. To simplify the statements, we only illustrate the theoretic approach for one projection on x-z plane, since the control strategy for two projections are same except for some difference of parameters. Solving (3) and (4)with respect t o 2 and &, we obtain:

Figure 2: Projections of pendulum onto x-x and y-x planes These projections are considered as coupled one dimensional inverted pendulums inside two orthogonal planes. Their moment of inertia about one terminal of the pendulum are described as J,, and J,,, respectively. Obviously, J,, and Jyz are the functions of their inclination angles a,p with respect to the origin.
J 2, J

- J - &12 =

1+ 1+

sin2p J.

- &2 = J

12

3sin2a J.

where, 1 is the length of the pendulum, and J is the moment of inertia of it. Assuming that the range of a and p is H O O , we can make simplification as considering cosa = cosp = 1, sin a = sin p = 0, then

x = - m212gcos a sin a + J(mlci2sin a - c ~ ~ k ) MO - m212 a J cos2

C J ,

I,, M l,, M 1. J,, x Jyz M J.

After such simplification, the 2-DOFspherical pendulum is considered as two uncoupled inverted pendulums in two different planes, and can be controlled individually. Actually, each system is considered as an inverted pendulum with its pivot contacted with a caxriage, which is in turn driven by a horizontal force. The motion equations are straightforward.

M~J - m212 cos2 a = f 1 @ , a , 4 !1au. +7(),

& =

where

(M, + m)Z(t) ml&(t)cosa(t)

+C M ~ X
(3)

-mlG2(t) sina(t) = c,u,(t)

725

(7)

mgl sin a - m l cos af1 ( k ,a, ci)

J
ml cos ag(a)
f2

(5, a, 4

+9 2( 4 ~ ~ .

MO := M,

+ m.

controller, where the prime denotes transpose. Then the set of equations (7) and(8) can be expressed as follows:

Here, let
20 := 21 1

- q1

Then (14) can be expressed as

or in a vector form,

Q = f ( 4 ) + g(4)uz.

(10)

where the definitions of vector-valued nonlinear functions f ( q ) and g(q) are clear.

It is well known that if there exists a scalar function

4(q) such that

L,@(Z)

= O ( i = 0 , 1 , ...,71 - 2)

Since the vectors in the second and third terms of the right-hand-side are functions of the measurable variables, we can write (16) as

IS,c;-'

# 0

Q = A4 + P(Y) + r ( y b 0 .

(17)

then the system is exact linearizable by suitable coordinate transformation and nonlinear state feedback, where n is called the relative degree of nonlinear system (10). Here, 4(q) is a scalar smooth function of the vector q, and there exists different possibilities for choosing it. For constructive simplicity, let us consider the case of 4(q) = 43. In this case, let us examine the relative degree of the nonlinear system (10). To do this, Let $(a) = 43, then for k = 0,

Keeping that p(y) and r(y) are functions of observation (vector) y alone, we may here feel like t o set by introducing some ( scalar) control signal G ( t ) and a constant vector b a s P(Y) + r(y)vo = bG. (18)

for each time t. Then (17) becomes the linear system,

Q = Aq + bC.

(19)

for k= 1,

In this case the pair of (A,b) is controllable as far as we choose,b appropriately. For instance, we can set as b = [Olll] , Although we can derive the similar linear system without input transformation (15), in such case, the controllability of (A,b) is no longer guaranteed no matter which b we choose. Now, we wish t o find a feedback control 5 that will balance the inverted pendulum. To do this, we set the following cost function.

Therefore, we can conclude that the relative degree is 2. According t o the theory of nonlinear control systems [2], by taking the state feedback control

J(q(t),G(t))=

f f ' { d ( t ) Q q ( t ) + G(t)RG(t)}dt.
0

(20)

the nonlinear system (10) is partially linearized, where v(t) is an external input to be designed as a control signal. In case of +(q) = 43 , (12) yields
U=-

where Q is a 4 x 4 positive semidefinite matrix; and R is a positive scalar constant. We are seeking for a optimal control law that yields the smallest possible cost. Clearly, it's a standard LQR problem, and the optimal control is found from
G ( t ) = -R-'blP(t)q(t).

f2(42,43,44) I 1 g2(43) 92(42)"

(13)

(21)

Therefore, with (13) the system dynamics (9) becomes

Then the solution of the optimal control problem can be reduced t o finding the matrix P ( t ) , which is the solution of Riccati equation

P(t) = - P ( t ) A - A'P(t)- Q +p(t)bR-'dP(t).

(22)
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4 Experimental Configuration and Experimental Results

4.1 Experimental Structure A Pentium-166 personai computer is used as a controller. The X-Y table is driven by two 400W AC servo motors and their power amplifiers. A motion control chip set MC1401A is a 2-IC general purpose Performance Motion Device ( P M D ) available in one, two, or four axes configuration. Here, it plays the role of interface between the motor amplifiers and the host processor. A 12-bit AD/DA converter is in charge of resetting the sensors and transferring the data of sensors to the host processor. The experimental configuration for one dimensional inverted pendulum system is shown in Fig. 3.

friction coefficients are set: CM, = 1063.8N/(m/s), C M ~ 384.6N/(m/s). The values are obtained from = the actual inverted pendulum equipment by the identification method illustrated above

4.3 sensors Sensor plays very important role in the whole system. The inclination angles of two directions are measured by a 2-axes magneto-resistive non-contact sensor, which offers high sensitivity for very small angular displacement. Absolute measurement of the angle is desirable. Since there is normally no reference to calibrate the sensor, we need to put the inverted pendulum in vertical direction first and consider the present output of sensors as the reference position at the beginning of every experiments. Another aspect we need to pay more attention is that the sensor must have acceptable resolution, because the design of controller needs the derivative of sensors output as the angular velocity of the inverted pendulum. With a low resolution of the angular measurement, the resolution of the velocity becomes very bad, and the controller will not be able to stabilize the pendulum. So a digital low pass filter is used in the sensor system to reject the bad signals and get rid of noise. The measurement system is shown in Fig. 4. A permanent magnet, placed inside the pendulum, generate a static field. In the case of static fields, all glass fiber materials behave non-magnetically, so does air. The annular flux lines which go through the sensor and the permanent magnet produce an electrical signal as the output of sensor. The output of 2-axes magnetoresistive sensors gives two set of signals proportional to the inclination angles of two directions for the inverted pendulum.

p m ds m p

MC 1401

Figure 3: Experimental configuration for one-dim. in-

verted pendulum system The data of the inclination angles of the pendulum are taken by the magneto-resistivesensors. The control input is the acceleration of the motors. The algorithm for controller is implemented on the Pentium-166 personal computer which receives the data from AD/DA converter and send control signals to AC servo motors for every 10ms. The software package for controller is programmed in C language, which is able to perform all the calculation in real time.
4.2 Physical Parameters The physical parameters M,, M,, CM,, CM,, m, I , J in the system model should be determined before the experiments. Among them, m, 1 can be measured directly, and J can be calculated theoretically. However, ~ M,, M,, CM,, C M cannot be measured directly since the experimental equipment has already been built up. These parameters will be determined indirectly by Recursive Least Squares Estimation ( U S ). This in turn generates an update to the model which correct model parameters to new values step by step until it reaches its true values. The identification procedure is briefly stated in Appendix.

The experimental parameters are set: m = 0.350kg, 1 = 0.6m1 J =, M , = 74.5kg, M, = 49.9kgl the

4.4 Experimental Results For designing the controller, trials and errors are used to defined the pair of weighting matrices Q and R of the cost function (20). The final selection of weighting matrices comes from such procedures: selects values for the unspecified parameters, generates the feedback gains, and implements the controller on actual system to evaluate the performance. To balance the inverted pendulum in x-direction, we set Q = diag(l00,10,200,20), R = 0.05, Then, the poles of controller are: -21.4170, -1.1313, -0.0611 f 0.19373. Fig. 5 depicts the inclination angles of two axes when the inverted pendulum are balancing successfully on xy table. Fig. 6 shows that the responses of positions on 2 and 9 directions at the same time. Fig. 7 is an overview of dynamics motion for a balanced inverted pendulum in 3-D view.

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Figure 6: Response of motion of x-y table

Figure 4: Measurement system of sensor : 1pendulum(g1ass fiber); 2-permanent magnet; 3- magnetic flux; 4-mounting plate(p1astic); 5-a piece of rubber to prevent the pendulum sliding on the mounting plate; 6-two magnetoresistive sensors; winclination angle for one direction

Figure 7: An overview of dynamics motion for a balanced spherical pendulum in 3-D view References [l] Jeffrey B. Burl, Linear optimal control. 312 and Nm , USA: Addision Wesley Longman, Inc, 1998. [2] A. Isidori, Nonlinear Control System, 2nd Edition, Berlin: Springer-Verlag, 1989. Figure 5: Inclination angles in two axes directions
[3] C.W.Anderson, Learning to Control an inverted pendulum using neural networks, IEEE Contr. Syst. Magazine, pp. 31-37, 1989.

Conclusion

[4] Q . Wu, Lyapunov's Stability Control of Constrained Inverted Pendulums Proc. American Contr. Conf., pp. 293-297, June, 1999.
[5] K.J.Astrom and K.Furuta, Swinging up a Pendulum by Energy Control, 13th Rennial World Congress, IFAC, 1996. [6] C Verde, J Ramos and R Barrera, Ezperiments for Analysis and Design of Robust Controllers: The Inverted Pendulum Case, 13th Triennial World Congress, IFAC, 1996. [7] Zhongli Lin, Ali Aaberi, Michanel Gutmann and Yacov A. Shamash, Linear Controller for an Inverted Pendulum Having Restricted Ravel: A High-and-Low Gain Approach, Automaticu, Vol. 3 , No. 6, pp. 9332 937, 1996.
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We presented a 2-DOF spherical pendulum based on a X-Y table in this paper. The pendulum can be projected into two orthogonal planes and can be considered as two uncoupled one-dim. inverted pendulums. Nonlinear controllers for inverted pendulum systems based on the approximation linearization technique from the view of differential geometric approach have been d e veloped. The measurement of the inclination angles of the pendulum in two directions were realized by a magneto-resistive sensor package mounted on the surface of platform and a permanent magnet inserted at the vertex of the pendulum. A working experimental inverted pendulum was realized steadily Fig. 8.

At time step t + 1:
1) Form

d(t + 1) with the new data;

2) Form ~ ( t ) using ~ ( t= y ( t ) 3) Form P(t

+ 1) - dT(t + 1) .d(t).

+ 1) using

4) Update d(t) with

Figure 8: Picture of a working 2-Dinverted pendulum
[8] Yasuhiro Ohyama, Tomio Yanaura and Jun Ikebe, The Design of Visual Servo Controller for an Inverted Pendulum, 13th Wennial World Congress, IFAC, 1996.

d(t + 1) = d(t)+ P ( t + l)+(t)E(t + 1)

5) Wait for the next step to elapse and come back to step 1). Now, we still use the estimation of the parameters in y-direction as example t o illustrate the procedure. To identify the mass Mu and the friction coefficient C M of the system, we consider the equation of motion of mass subject to a voltage u Y ( t ) and the viscous friction

Appendix The physical parameters M,, Mu, C M , , and C M of the ~ system cannot be measured directly since the experimental equipment has been already built up. A realtime and on-line measurement should be implemented for them. Actually, using the property of a second order system, its possible for us t o estimate the parameters. But this method is not always available since the second order system we define maybe not guarantee to be over-damping, which is the essential condition for the implementation of this method. So, here we use Recursive Least Square Estimation (FUS) t o estimate those parameters. In this scheme, the estimated model of the system is updated at each sample interval as new data become available. New input/output data become available at each interval. The model based on past information ( summarized in 8(t - 1) ) is used to obtain an estimation c(t) of the current output. This is then compared with the observed output y ( t ) to generate error e(t). This in turn generates an update t o the model which correct d(t - 1) t o the new value d ( t ) . Acoording to the Theorem for FUS,

If we consider ~ ( tand cguu(t)as the output and input ) respectively, then

Let

Using C programs in practical implementation of experiments, we can get estimation of the unknown parameters.
= 0.0026
CMU

d ( t ) = d(t - 1)

+ P ( t ) d ( t ) ( y ( t- dTd(t>) )

=+

CM

= 384.6(N/(m/s))

M - = 0.13
Equation (23) gives us the means t p update P(t) to P(t 1) without inverting a matrix. In fact, the only inversion is of the scalar form [1+ 4T(t)P(t- l)+(t)].
CM

M =49.9(kg)

In summary, the full recursive least squares (IUS) algorithm for updating d(t) is as following: 729