Inverted pendulum system
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This paper presents a control approach for the double inverted pendulum on a cart (DIPC) by combining Hierarchical Sliding Mode Control (HSMC) and Disturbance Observer (DOB). The proposed method utilizes HSMC to ensure balance in both the pendulum angles and a cart position, while the DOB accurately estimates the system's disturbance.
10p visergeyne 18-06-2024 0 0 Download
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The paper introduces fuzzy observer-based control for rotary inverted pendulum systems, renowned for their inherent instability and complexity. We leverage the Takagi-Sugeno (T-S) fuzzy model, which involves the incorporation of local linear models described by fuzzy rules, thus enabling precise and stable control.
9p vibego 02-02-2024 1 0 Download
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The inverted pendulum on a cart is a challenging and widely studied control problem in the fields of control systems and robotics. To address the need for more effective control strategies, this article presents a novel approach that combines the strengths of two powerful control techniques: Linear-Quadratic Regulator (LQR) and Takagi-Sugeno (T-S) fuzzy control.
15p vibego 02-02-2024 3 1 Download
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his paper presents an investigation in monitoring an inverted pendulum mounted on a moving cart using a low-order filter approach. The inverted pendulum system is a classic benchmark for control system analysis and design due to its inherent instability.
6p vimichaelfaraday 28-12-2023 6 4 Download
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This paper introduces an innovative method for achieving stability of the highly nonlinear and unstable double inverted pendulum using a combination of linear matrix inequality (LMI) techniques and sliding mode control (SMC). Sliding mode control is a widely used technique for stabilizing the highly unstable and nonlinear double inverted pendulum system.
7p vimichaelfaraday 14-12-2023 6 5 Download
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The paper presents the modeling and design of a control system using the TS fuzzy model, with a focus on the application in the inverted pendulum system. The section concludes with a detailed presentation of the simulation results, which showcase the efficacy of the suggested approach in stabilizing the inverted pendulum.
7p vijeff 30-11-2023 4 3 Download
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The paper develops effective swing-up energy-based control and stabilization task. It also presents two controllers, linear quadratic regulator (LQR) and hierarchical sliding mode control (HSMC), that effectively handle the stabilization problem.
9p vijeff 30-11-2023 5 3 Download
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The aim of this paper is to use genetic algorithm to identify parameters of a nonlinear balancing system. In this case, single-linked inverted pendulum was chosen. With identified parameters of nonlinear model, a LQR controller was designed to prove that parameters were identified well. Results which were operated in Matlab/ Simulink environment showed that identifying process was good.
6p vidoctorstrange 06-05-2023 5 1 Download
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This paper presents a back-stepping technique to control this system balancing at a vertical upright position-the unstable equilibrium point. Lyapunov-based back-stepping is proposed for a rotary inverted pendulum in this research.
9p vidoctorstrange 06-05-2023 3 1 Download
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This paper presents a direction for creating a cheap RIP. Thence, authors apply LQR, a balancing control algorithm, and Furuta, a classical swing up the controller, on this model. Both controllers are designed based on a mathematical model of a real system.
9p vidoctorstrange 06-05-2023 7 4 Download
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Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot.
8p vidoctorstrange 06-05-2023 6 4 Download
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The paper introduces the LQR (liner quadratic regulator) controller optimization method by GA (genetic algorithm) controlling the inverted pendulum on a cart. The paper also presents the model’s kinetic equation. Authors build up the LQR controllers to stabilize the model. Q matrix is selected by both experiences and GA.
7p vidoctorstrange 06-05-2023 7 2 Download
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This paper presents a method of using fuzzy algorithm to change flexibly control parameters of PID when system operates. Thence, control quality is improved. Object which is used for testing in this paper is pendubot- a popular model in laboratories of control engineering, balance control for pendubot at Top position as a requirement.
7p vidoctorstrange 06-05-2023 12 4 Download
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The article presents a solution for stabilizing a double inverted pendulum using a Fuzzy logic controller and a Linear-Quadratic Regulator (LQR) controller. The entire system has been modeled and tested by Matlab/Simulink toolbox.
8p vidoctorstrange 06-05-2023 11 3 Download
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Rotary Inverted Pendulum (RIP) plays a vital role in control engineering. Rotary Inverted Pendulum is a complex, nonlinear, non-minimum-phase and under-actuated system which has various applications in the field of Robotics. The main contribution of this paper is to design and control RIP by using Linear Quadratic Regulator (LQR) controller for stabilization at vertically upright position - the unstable equilibrium point, and Linear Quadratic Tracker (LQT) controller for tracking the desired trajectory.
11p vicaptainmarvel 21-04-2023 8 4 Download
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Rotary Inverted Pendulum (RIP) is a non-linear system that is considered a benchmark in control theory problem. It represents a broader class of under-actuated systems. Rotary inverted pendulum is a complex system, widely studied in many areas due to its complexity, nonlinearities and nonminimum-phase system. In this work, the authors implement the inputoutput feedback linearization techniques (IOFL) for the control of rotary inverted pendulum.
10p visherylsandber 28-06-2022 16 4 Download
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In this paper, a robust PI controller in combination with a linear quadratic regulator (LQR) is proposed to control a two-wheeled inverted pendulum robot (TWIPR) such that it is kept balanced while moving. The proposed TWIPR control system consists of two control loops. The inner loop has two PI controllers for two DC motors’ currents, which are separately designed based on a robust PI controller structure. The outer loop contains a LQR controller for the tilt angle, heading angle and position of the TWIPR.
15p 12120609 01-06-2020 26 2 Download
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—The paper presents the design of a Linear Quadratic Regulator (LQR) controller for an Inverted Pendulum (IP) system using The Bees Algorithm (BA) to provide optimal parameters of LQR. Inverted Pendulum is a typical highly nonlinear and unstable system and widely used as a benchmark for testing different control techniques in control theory.
4p praishy2 27-02-2019 43 2 Download
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This paper presents first the dynamic modeling of the system based on Euler – Lagrangian method and then uncertain model is obtained by considering the parametric uncertainty in moment of inertia of pendulums and friction coefficient of hinges and cart.
7p praishy2 27-02-2019 18 0 Download
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In the paper, the authors investigate to find the optimal parameters of the TMD-D and DVA absorbers in order to optimally reduce the vibration for the inverse pendulum system. These research results are applied to reduce the vibration for the articulated tower in the ocean.
11p thienthanquydu 17-10-2018 30 0 Download