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The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
We study the possibility to stabilize unstable steady states and unstable periodic orbits in chaotic fractional-order dynamical systems by the time-delayed feedback method. By performing a linear stability analysis, we establish the…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
In this paper, we design a stabilizing state-feedback control law for a system represented by a general class of integral delay equations subject to a pointwise and distributed input delay. The proposed controller is defined in terms of…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
For systems in canonical form with nonvanishing uncertainties/disturbances, this work presents an approach to full state regulation within prescribed time irrespective of initial conditions. By introducing the smooth hyperbolic-tangent-like…
For a general class of dynamical systems (of which the canonical continuous and uniform discrete versions are but special cases), we prove that there is a state feedback gain such that the resulting closed-loop system is uniformly…
The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward…
This work describes a technique for active rejection of multiple independent and time-correlated stochastic disturbances for a nonlinear flexible inverted pendulum with cart system with uncertain model parameters. The control law is…
In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
A disturbance decoupling problem for a $n$-link chain pendulum on a cart is considered. A model of the cart developed in a coordinate-free framework and the linearized equations of this system are considered from [1]. It is shown that it is…
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Title: Global stabilization of control nonlinear system "inverted pendulum on a cart" using method of two Lyapunov functions Authors: B. L. Mazov (Nizhny Novgorod Technical University) Comments: 10 pages Subj-class: Dynamical Systems…
We consider a one-dimensional controlled reaction-diffusion equation, where the control acts on the boundary and is subject to a constant delay. Such a model is a paradigm for more general parabolic systems coupled with a transport…
We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
In this paper, we consider N-level quantum angular momentum systems interacting with electromagnetic fields undergoing continuous-time measurements. We suppose unawareness of the initial state and physical parameters, entailing the…