The inverted pendulum is a simple system in which both stable and unstable configurations are easily observed. The upward inverted state is unstable, though it has long been known that a simple rigid pendulum can be stabilized against small disturbances in its inverted state by oscillating its pivot in an up-and-down motion. Numerical simulations of the inverted pendulum are employed to investi...

The wheelchair is the major means of transport for physically disabled people. However, it cannot overcome architectural barriers such as curbs and stairs. In this paper, the authors proposed a method to avoid falling down of a wheeled inverted pendulum type robotic wheelchair for climbing stairs. The problem of this system is that the feedback gain of the wheels cannot be set high due to model...

This paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method, both of which are generally used for control of the linear dynamical systems have been used in this paper to control ...

The Inverted Pendulum is one of the most important classical problems of Control Engineering. In this paper, a real-time control for stabilization of inverted pendulum is developed using PID controller. The implementation platform chosen here is FPGA because it exhibits some superior qualities over traditional processors such as parallel processing capability, high sampling rates, flexibility i...

Abstract This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education....

The inverted pendulum is a highly nonlinear and open loop unstable system. To develop an accurate model of the inverted pendulum, different linear and nonlinear methods of identification will be used. However one of the problems encountered during modeling is the collection of experimental data from the inverted pendulum system. Since the output data from the unstable system does not show enoug...

This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conver...

Reinforcement learning has been active research area not only in machine learning but also in control engineering, operation research and robotics in recent years. It is a model free learning control method that can solve Markov decision problems. Q-learning is an incremental dynamic programming procedure that determines the optimal policy in a step-by-step manner. It is an online procedure for...