Related papers: Hybrid LQG-Neural Controller for Inverted Pendulum…
In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input-output behaviour of…
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,…
In this two-part paper, we identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple intuitive estimation structure and can be computed efficiently. Roughly, we consider the…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling…
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…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
This study introduces lateral pendulum as an innovative balancer design for bicycle stabilization. This pendulum, operating in the bicycle's vertical plane, enables the bicycle to remain stationary. The paper develops a dynamic model for a…
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…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
We develop autonomous agents fighting with each other, inspired by human wrestling. For this purpose, we propose a coupled inverted pendula (CIP) framework in which: 1) tips of two inverted pendulums are linked by a connection rod, 2) each…
We develop an hybrid quantum-classical algorithm to solve an optimal population transfer problem for a molecule subject to a laser pulse. The evolution of the molecular wavefunction under the laser pulse is simulated on a quantum computer,…
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels. Characterized by several degrees of freedom, they…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bound propagation, we…
Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…