نتایج جستجو برای: inverted pendulum on a cart

تعداد نتایج: 15920480  

2013
Seul Jung Jae Kook Ahn

This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendu...

2008
Xin Xin

Designing and analyzing controllers for underactuated systems with underactuation degree greater than one is still an open and challenging problem. In this paper, we study an unsolved problem of analyzing energy based swing-up control for a double pendulum on a cart, which has three degrees of freedom and only one control input. We present an original analysis of the convergence of the energy o...

2011
Manjish Naik Douglas Cochran

This paper deals with system identification of a nonlinear, dynamic SIMO system of an inverted pendulum on a cart. Using the approach of compressed sensing the Ordinary Differential Equations (ODEs) describing the dynamics of this system are obtained from a time series data of the inputs and outputs. A library of functions is created and the correct coefficients of these functions are identifie...

Journal: :iranian journal of fuzzy systems 2009
p melba mary n. s. marimuthu

this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...

2003
Oliver Junge Hinke M. Osinga

We describe an algorithm for computing the value function for “all source, single destination” discrete-time nonlinear optimal control problems together with approximations of associated globally optimal control strategies. The method is based on a set oriented approach for the discretization of the problem in combination with graph-theoretic techniques. The central idea is that a discretizatio...

2015
Abhaya Pal Singh Himanshu Agarwal

In this paper we propose a Fractional Order Controller for an under-actuated system (POAC). This system has two degrees-of-freedom and one control input. The model of the system is derived using Euler Lagrange method and the stabilization is achieved with constraints using Fractional Order Controller. To validate the control law, simulation are performed and compared with Integer Order Controll...

2008
Jian Chen George W. Irwin Adrian McKernan William G. Scanlon

In Wireless Networked Control Systems (WNCS), time-varying and unknown delays can significantly degrade the closed-loop performance and even lead to instability. This paper proposes using Dynamic Matrix Control for WNCS, where, a set of predicted control signals corresponding to possible delays are sent to the plant. Here the most appropriate control signal is selected based on the round-trip d...

2011
Julian Mercieca Simon G. Fabri

The paper proposes two Nonlinear Model Predictive Control schemes that uncover a synergistic relationship between on-line receding horizon style computation and Particle Swarm Optimization, thus benefiting from both the performance advantages of on-line computation and the desirable properties of Particle Swarm Optimization. After developing these techniques for the unconstrained nonlinear opti...

2013
SUN QIANLAI SUN ZHIYI

In order to guarantee real time, a simple control method is presented to stabilize the fast-moving systeminverted pendulum. The method was obtained by mathematical derivation based on the dynamical model of the inverted pendulum system, but the control strategy is independent of the model. It is applicable for controlling other multi input single output plants besides inverted pendulum. A contr...

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