Related papers: Design of a Networked Controller for a Two-Wheeled…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…
Networked control systems enable real-time control and coordination of distributed systems, leveraging the low latency, high reliability, and massive connectivity offered by 5G and future 6G networks. Applications include autonomous…
The discipline of automatic control is making increased use of concepts that originate from the domain of machine learning. Herein, reinforcement learning (RL) takes an elevated role, as it is inherently designed for sequential decision…
In this paper, we propose a design of a model-free networked controller for a nonlinear plant whose mathematical model is unknown. In a networked control system, the controller and plant are located away from each other and exchange data…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncertainties in system parameters further complicate the control…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure free optimization process…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
In this paper, we address the problem of controlling a system over an unreliable connection that is affected by time-varying delays and randomly occurring packet losses. A novel sequence-based approach is proposed that extends a given…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…