相关论文: Feedback stabilization of double pendulum: Applica…

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…

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…

In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…

Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an gantry crane system becomes an interesting issue in the field of control…

This paper studies the Lagrange stabilization of a class of nonlinear systems whose linear part has a singular system matrix and which have multiple periodic (in state) nonlinearities. Both state and output feedback Lagrange stabilization…

Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…

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…

Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…

In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…

The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…

A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…

A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many…

This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler's classical mechanics and Lagrange formalism, which allows find the equations of motion that…

We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…

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…

The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…

This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

In this work we present a workflow for designing two linear control techniques applied to the dynamic system quadruple inverted pendulum mounted on a cart (QIP) where the steady state error on cart position is eliminated through a…