相关论文: Intuition and importance of feedback control throu…

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…

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…

Since most industrial control applications use PID controllers, PID tuning and anti-windup measures are significant problems. This paper investigates tuning the feedback gains of a PID controller via back-calculation and automatic…

For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, for teaching and researches in control theory and robotics. This paper presents the key motivations for the use of that system and explains,…

Many studies have found active learning, either in the form of in-class exercises or projects, to be superior to traditional lectures. However, these forms of hands-on learning do not always lead students to reach the higher order thinking…

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…

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…

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…

If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…

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…

The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…

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…

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…

Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The…

Robust control theory studies the effect of noise, disturbances, and other uncertainty on system performance. Despite growing recognition across science and engineering that robustness and efficiency tradeoffs dominate the evolution and…

Proportional-Integral-Derivative (PID) control is used for automatically regulating a measurable quantity to a desired setpoint. It is widely used in different types of classical control electronics. Here, we show how extending the feedback…

We propose a Proportional Integral Derivative (PID) controller-based coaching scheme to expedite reinforcement learning (RL).

The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…

How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…

We investigate the role of information in active feedback control of quantum many-body systems using reinforcement learning. Active feedback breaks detailed balance, enabling the engineering of steady states and dynamical phases of matter…