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Fractional Order Modeling and Control for Under-actuated Inverted Pendulum

Raafat Shalaby, Mohammad EL-Hossainy, Belal ABO-Zalam
2019 Communications in nonlinear science & numerical simulation  
This paper presents the fractional order modeling of an under-actuated mechanical system.  ...  The under-actuated system taken in this paper is an overhead crane that has two degrees of freedom and one control input. The modeling equation is derived with the help of Euler-Lagrange equation.  ...  Design of a controller for an under-actuated mechanical system named Double Inverted Pendulum on a Cart system (DIPOAC) is proposed in [2] that has three degrees-of-freedom and one control input.  ... 
doi:10.1016/j.cnsns.2019.02.023 fatcat:h3snlvyprbgthmb2lhg5aqxkky

Robust Fractional Model Predictive Controller (FMPC) Design for Under-Actuated Robotic Systems

Abhaya Pal Singh, Himanshu Agrawal, Pallavi Srivastava
2018 International Journal of Control and Automation  
In this paper a novel robust fractional model predictive controller is designed for under-actuated robotic system.  ...  The considered under-actuated robotic system is an inverted pendulum on a cart system with two degree of freedom and a control input.  ...  The best example one can think of is an inverted pendulum on a cart (POAC) which is the foundation of all the robots in under-actuated upright balance category.  ... 
doi:10.14257/ijca.2018.11.7.09 fatcat:7hthwm6tnzbn5manhcw4sg4jom

Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

Ajit Kumar, Bharat Bhushan
2018 International Journal of Computer Applications  
Numerical simulations of designed SMC control strategy for inverted pendulum demonstrate faster convergence, reduced disturbance in control input and overall robust performance.  ...  This paper presents a decoupling algorithm of sliding mode control on inverted pendulum. The decoupled method provides a simple way to achieve asymptotic stability for a nth -order nonlinear systems.  ...  Further, fractional order sliding mode controller can be tested for its performance on both single and multiple link inverted pendulum. ( 1 )Figure 1 . 11 Figure 1.  ... 
doi:10.5120/ijca2018918044 fatcat:gh5e4k5vcfelpp3fhibwresl2m

Flower Pollination for Rotary Inverted Pendulum Stabilization with Delay

Srikanth Kavirayani, Nagesh Kumar Gundavarapu
2017 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
Flower pollination is a single objective optimization technique which as a unconstrained optimization method is applied for the stabilization of the rotary inverted pendulum system.  ...  It was observed that the flower pollination method gave better sensitivity in control of the pendulum about its upright unstable equilibrium position with less time and definitely indicated that the method  ...  Feng [19] proposed a fractional order improvement by simulating on rotary double inverted pendulum system, the result's comparison indicates that fractional-order method has obvious superiority, like  ... 
doi:10.12928/telkomnika.v15i1.3403 fatcat:p4peo6knsbhs3pj3essyw7mf5q

Stabilizing and Swinging-Up the Inverted Pendulum Using PI and PID Controllers Based on Reduced Linear Quadratic Regulator Tuned by PSO

M. E. Mousa, M. A. Ebrahim, M. A. Moustafa Hassan
2015 International Journal of System Dynamics Applications  
The Proposed Controllers give minimum Settling Time, Rise Time, Undershoot and Over shoot for both the Cart Position and the Pendulum angle.  ...  The inherited instabilities in the Inverted Pendulum (IP) system make it one of the most difficult nonlinear problems in the control theory.  ...  INTRODUCTION Inverted pendulum system is unstable, nonlinear, non-minimum phase and under actuated system.  ... 
doi:10.4018/ijsda.2015100104 fatcat:vwziiwhwzbai5ojoudhyfenkvm

Bulanık Bilişsel Harita Tabanlı PD Kontrolörler Kullanılarak Ters Sarkaç Sisteminin Stabilizasyonu

2020 European Journal of Science and Technology  
In this study, a fuzzy cognitive map based PD controller structure is introduced and used for the stabilization of an inverted pendulum system which is a nonlinear, unstable, and under-actuated system.  ...  To show the effectiveness and robustness of the proposed fuzzy cognitive map based PD controller, simulation studies are performed on an inverted pendulum system.  ...  The inverted pendulum is a nonlinear, unstable, under-actuated, and non-minimum phase system [24] . These characteristics make the control of these systems more challenging.  ... 
doi:10.31590/ejosat.779601 fatcat:vq7hncpbcbdsjas5xm3feek7hi


Mustafa T Hussein
In order to verify thedeveloped model and the chosen controller gains several simulations for different carts'paths are carried out.  ...  This work is aimed to study the dynamic behavior and control of the triple invertedpendulumsystem. A nonlinear dynamic model of the inverted-pendulums fixed on a cart,based on CAD model is developed.  ...  MODELING OF TRIPLE INVERTED-PENDULUM ON A CART The triple inverted-pendulum system is a nonlinear under actuated system, furthermore triple inverted-pendulum on a cart represent a challenging control design  ... 
doi:10.32852/iqjfmme.v18i3.183 fatcat:3ol2l4rqobfmdbsjuoki2cl66y

Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

Khaled M. Goher, Sulaiman O. Fadlallah
2019 International Journal of Automation and Computing  
For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies.  ...  over the robot and the actuators.  ...  An adaptive backstepping control for a wheeled inverted pendulum model was proposed by Cui et al. [11] .  ... 
doi:10.1007/s11633-019-1172-0 fatcat:xitlfqkobfhfnihvggaqhwxd5i

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Alfian Ma'arif, Marco Antonio Márquez Vera, Magdi Sadek Mahmoud, Samir Ladaci, Abdullah Çakan, Jonattan Niño Parada
2021 Journal of Robotics and Control (JRC)  
The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system.  ...  The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics.  ...  modeling and control for under-actuated inverted pendulum,” [47] A. Chalanga, M. Patil, B. Bandyopadhyay, and H.  ... 
doi:10.18196/jrc.v3i1.12739 fatcat:wpr4cafmazfmvc2uoyjmeuarfe


2021 2021 18th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)  
for Rotary Base Inverted Pendulum by Means of Nested Saturation Under-actuated system Functions Photoluminescence Si-based organometallic precursor by O-Cat-CVD Photoluminescence Synthesis and Characterization  ...  for Ventriculostomy Mathematical model Modeling and simulation of a Furuta pendulum actuated by an inertial wheel Mean value engine model Automotive engine fault detection and isolation using LSTM for  ... 
doi:10.1109/cce53527.2021.9633101 fatcat:7ffdhuyqevhmpawcjajs2rgniq

Comparison of packet loss compensation in nonlinear Networked Control Systems using the methods Extended Kalman Filter and Unscented Kalman Filter

Tanisia C. Foletto, Ubirajara F. Moreno, Antonio M. Lopes
2011 ETFA2011  
The compensator chooses the best control signal, among the set of control signals transmitted by the predictor, to compensate for the random network transmission time delay and packet dropout.  ...  In networked control systems, time delay and data dropout can degrade the performance of the control system and even destabilize the system.  ...  at compensating for the time delay and data dropout in the networked control of a nonlinear rotary inverted pendulum.  ... 
doi:10.1109/etfa.2011.6059052 dblp:conf/etfa/FolettoML11 fatcat:j2plsedhkfcdfaldu56stcmj6e

Full State Feedback 𝐇𝟐 and H-infinity Controllers Design for a Two Wheeled Inverted Pendulum System

2018 Engineering and Technology Journal  
In this work, two robust controllers, which are full state feedback, 𝐻 2 and full state feedback 𝐻 ∞ controllers are proposed for the two wheeled inverted pendulum system.  ...  The nonlinear equations for the two wheeled inverted pendulum system are developed using Euler -Lagrange equation.  ...  The control of the under actuated system becomes more discomfort for the researchers to resolve.  ... 
doi:10.30684/etj.36.10a.12 fatcat:wiqgvbafa5ablmrg4jwdkwfquy

A Novel Recurrent Adaptive Backstepping Optimal Control Strategy for a Single Inverted Pendulum System [article]

Mohammad Sarbaz
2021 arXiv   pre-print
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied.  ...  The inverted pendulum is a popular nonlinear system that is used in both industry and academic and is applied various control approaches since it has many applications.  ...  For instance, identification of the inverted pendulum to establish the dynamic model of inverted pendulum [4] , using LQR algorithm for the balancing control of both pendulums and position control [5  ... 
arXiv:2110.09846v1 fatcat:lvulahp355cx7a23gjimodepey

Anatomy of the TAMA SAS seismic attenuation system

Szabolcs Márka, Akiteru Takamori, Masaki Ando, Alessandro Bertolini, Giancarlo Cella, Riccardo DeSalvo, Mitsuhiro Fukushima, Yukiyoshi Iida, Florian Jacquier, Seiji Kawamura, Yuhiko Nishi, Kenji Numata (+10 others)
2002 Classical and quantum gravity  
The only active feedback is relegated below 6 Hz and it is used to damp the attenuation chain rigid body mode resonances and achieve r.m.s. mirror residual motion measured in tens of nanometers.  ...  We will give a brief overview of the subsystems and point out some of the characterization results, supporting our claims of achieved performance.  ...  Special thanks goes to Gianni Gennaro of Promec for extremely effectively drafting the TAMA-SAS design and Carlo Galli of Galli&Morelli for the superb craftsmanship of our mechanical parts.  ... 
doi:10.1088/0264-9381/19/7/351 fatcat:gtoookbn2jhx7pngzhxitsa7hy

Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control

2016 Journal of Artificial Intelligence and Data Mining  
Under-actuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has recently been investigated for hierarchical sliding mode control since  ...  Finally, a simulation example of an inverted pendulum is proposed to confirm the effectiveness and robustness of the proposed controller.  ...  Many researchers investigated the control of under-actuated systems.  ... 
doi:10.5829/idosi.jaidm.2016.04.01.11 fatcat:apxwdfa4xnchzassft2prdamd4
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