相关论文: Balancing a Stick with Eyes Shut: Inverted Pendulu…

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 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…

The concepts of stability and balance represent many critical problems faced by engineering today. The inverted pendulum on a cart is one such non-linear, unstable, multivariate system whose goal is to determine a suitable control action…

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…

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…

Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…

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…

In this paper we propose a methodology for stabilizing single-input single-output feedback linearizable systems when no system model is known and no prior data is available to identify a model. Conceptually, we have been greatly inspired by…

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…

We consider stabilization of linear time-invariant (LTI) and single input single output (SISO) plants in the frequency domain from a fresh perspective. Compensators that are themselves stable are sometimes preferred because they make…

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…

This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…

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,…

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 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…

The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…

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…

We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…

In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…

Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…