相关论文: Cascade PID Control of an Inverted Pendulum on a C…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncertainties in system parameters further complicate the control…
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…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
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…
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 presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
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…
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 concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…
Linear quadratic Gaussian (LQG) control is a well-established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In standard laboratory setups, sensor redundancy enables direct…
Pendulum-driven systems have emerged as a notable modification of vibro-impact mechanisms, replacing the conventional mass-on-spring oscillator with a pendulum. Such systems exhibit intricate behavior resulting from the interplay of…
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…
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…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
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…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…