Advanced Control of Wheeled Inverted Pendulum Systems
Advanced Control of Wheeled Inverted Pendulum Systems

Author: Zhijun Li

Publisher: Springer Science & Business Media

Published: 2012-07-13

Total Pages: 226

ISBN-13: 1447129636

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Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics, dynamics modeling, advanced control design techniques and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by. The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation method. Although primarily intended for researchers in robotic control, Advanced Control of Wheeled Inverted Pendulum Systems will also be useful reading for graduate students studying nonlinear systems more generally.

Advanced Control Design with Application to Electromechanical Systems
Advanced Control Design with Application to Electromechanical Systems

Author: Magdi S. Mahmoud

Publisher: Butterworth-Heinemann

Published: 2018-04-12

Total Pages: 390

ISBN-13: 0128145447

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Advanced Control Design with Application to Electromechanical Systems represents the continuing effort in the pursuit of analytic theory and rigorous design for robust control methods. The book provides an overview of the feedback control systems and their associated definitions, with discussions on finite dimension vector spaces, mappings and convex analysis. In addition, a comprehensive treatment of continuous control system design is presented, along with an introduction to control design topics pertaining to discrete-time systems. Other sections introduces linear H1 and H2 theory, dissipativity analysis and synthesis, and a wide spectrum of models pertaining to electromechanical systems. Finally, the book examines the theory and mathematical analysis of multiagent systems. Researchers on robust control theory and electromechanical systems and graduate students working on robust control will benefit greatly from this book. Introduces a coherent and unified framework for studying robust control theory Provides the control-theoretic background required to read and contribute to the research literature Presents the main ideas and demonstrations of the major results of robust control theory Includes MATLAB codes to implement during research

Fractional Order Control and Synchronization of Chaotic Systems
Fractional Order Control and Synchronization of Chaotic Systems

Author: Ahmad Taher Azar

Publisher: Springer

Published: 2017-02-27

Total Pages: 873

ISBN-13: 3319502492

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The book reports on the latest advances in and applications of fractional order control and synchronization of chaotic systems, explaining the concepts involved in a clear, matter-of-fact style. It consists of 30 original contributions written by eminent scientists and active researchers in the field that address theories, methods and applications in a number of research areas related to fractional order control and synchronization of chaotic systems, such as: fractional chaotic systems, hyperchaotic systems, complex systems, fractional order discrete chaotic systems, chaos control, chaos synchronization, jerk circuits, fractional chaotic systems with hidden attractors, neural network, fuzzy logic controllers, behavioral modeling, robust and adaptive control, sliding mode control, different types of synchronization, circuit realization of chaotic systems, etc. In addition to providing readers extensive information on chaos fundamentals, fractional calculus, fractional differential equations, fractional control and stability, the book also discusses key applications of fractional order chaotic systems, as well as multidisciplinary solutions developed via control modeling. As such, it offers the perfect reference guide for graduate students, researchers and practitioners in the areas of fractional order control systems and fractional order chaotic systems.

The Reaction Wheel Pendulum
The Reaction Wheel Pendulum

Author: Daniel J. Block

Publisher: Morgan & Claypool Publishers

Published: 2007-12-01

Total Pages: 112

ISBN-13: 1598291955

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This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.

Information Systems Design and Intelligent Applications
Information Systems Design and Intelligent Applications

Author: Vikrant Bhateja

Publisher: Springer

Published: 2018-03-01

Total Pages: 1112

ISBN-13: 9811075123

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The book is a collection of high-quality peer-reviewed research papers presented at International Conference on Information System Design and Intelligent Applications (INDIA 2017) held at Duy Tan University, Da Nang, Vietnam during 15-17 June 2017. The book covers a wide range of topics of computer science and information technology discipline ranging from image processing, database application, data mining, grid and cloud computing, bioinformatics and many others. The various intelligent tools like swarm intelligence, artificial intelligence, evolutionary algorithms, bio-inspired algorithms have been well applied in different domains for solving various challenging problems.

Fuzzy Adaptive Control of a Two-wheeled Inverted Pendulum
Fuzzy Adaptive Control of a Two-wheeled Inverted Pendulum

Author: Tianqi Xi

Publisher:

Published: 2018

Total Pages:

ISBN-13:

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Recently, the two-wheeled inverted pendulum has drawn the attention of robotic community in view of a plethora of applications, such as transport vehicles: Segway, teleconferencing robots, and electronic network-vehicle. As a widely-used personal transportation vehicle, a two-wheeled inverted pendulum robot has the advantages of small size and simple structure. Moreover, with the advent of modern control technology, these kinds of platforms with safety features and sophisticated control functions can be cost down, so that they have high potential to satisfy stringent requirements of various autonomous service robots with high speed. At the same time, it is of great interest from control point of view as the inverted pendulum is a complicated, strongly coupled, unstable and nonlinear system. Therefore, it is an ideal experimental platform for various control theories and experiments. To understand such a complex system, the Lagrangian equation has been introduced to develop a dynamic model. And following the mathematical model, linear quadratic regulator control and fuzzy adaptive method are proposed for upright stabilization, velocity control and position control of the system. However, sometimes these kinds of robots need to move on a slope, so an advanced linear quadratic regulator controller and a modified fuzzy adaptive controller have been proposed to achieve position control on a slope for the robot while stabilizing its body in balance. In addition, trajectory tracking control using proportional integral derivative control and sliding mode control with fuzzy adaptive backstepping method is also designed to make the robot autonomously navigate in two dimensional plane. Simulation results indicate that the proposed controllers are capable of providing appropriate control actions to steer the vehicle in desired manners. Then, a couple of real time experiments have been conducted to verify the the effectiveness of the developed control strategies.

Advanced Production and Industrial Engineering
Advanced Production and Industrial Engineering

Author: R.M. Singari

Publisher: IOS Press

Published: 2022-11-23

Total Pages: 720

ISBN-13: 1643683373

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Things change rapidly in the field of engineering, and awareness of innovation in production techniques is essential for those working in the field if they are to utilise the best and most appropriate solutions available. This book presents the proceedings of ICAPIE-22, the 7th International Conference on Advanced Production and Industrial Engineering, held on 11 and 12 June 2022 in Delhi, India. The aim of the conference was to explore new windows for discoveries in design, materials and manufacturing, which have an important role in all fields of scientific growth, and to provide an arena for the showcasing of advancements and research endeavours from around the world. The 102 peer-reviewed and revised papers in this book include a large number of technical papers with rich content, describing ground-breaking research from various institutes. Covering a wide range of topics and promoting the contribution of production and industrial engineering and technology for a sustainable future, the book will be of interest to all those working in production and industrial engineering.

Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink
Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink

Author: Mustefa Jibril

Publisher: GRIN Verlag

Published: 2020-08-21

Total Pages: 9

ISBN-13: 334623018X

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Academic Paper from the year 2020 in the subject Computer Science - Software, , language: English, abstract: In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllers used in this paper are H∞ Loop Shaping Design Using Glover McFarlane Method and mixed H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum, a DC motor, Cart and Cart driving mechanism have been done successfully. Comparison of an inverted pendulum with H∞ Loop Shaping Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step and impulse). The simulation result shows that the inverted pendulum with mixed H∞ Loop Shaping Controller to have a small rise time, settling time and percentage overshoot in the step response and having a good response in the impulse response too. Finally the inverted pendulum with mixed H∞ Loop Shaping Controller shows the best performance in the overall simulation result.

The Inverted Pendulum in Control Theory and Robotics
The Inverted Pendulum in Control Theory and Robotics

Author: Olfa Boubaker

Publisher: IET

Published: 2017-10-24

Total Pages: 409

ISBN-13: 1785613200

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This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum.