Substabilization for coupled-inverted pendulums with input failure: a fully actuated system approach

This paper investigates the substabilization problem for a class of coupled-inverted pendulum systems (CIPSs) connected by two springs. Unlike most control studies that only focus on the CIPS without any input failure, this paper considers a more complex situation. That is, individual control inputs in the CIPS fail entirely, significantly complicating the control design. To solve this control problem, the original CIPS is converted into a sub-fully actuated system (sub-FAS) model. Then,using the fully actuated system (FAS) approach, the substabilizing controllers for the obtained sub-FAS are designed within the feasible set, and the corresponding region of exponential attraction (RoEA) is derived, in which the closed-loop sub-FAS is exponentially stable, and the original CIPS is asymptotically stable. Finally, simulation research proves the effectiveness of the proposed control method.