Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

The mixed μ synthesis is proposed for mechanical systems. In this method, both the real parametric and the complex uncertainties are handled together. A compensator that achieves nominal performance and meets robust stability specifications can be designed. The method will be illustrated for an inverted pendulum device as an educational example and a suspension design problem as a practical exa...

This paper describes a procedure for incorporating artificial gyroscopic forces in the method of controlled Lagrangians. These energy-conserving forces provide additional freedom to expand the basin of stability and tune closed-loop system performance. We also study the effect of physical dissipation on the closed-loop dynamics and discuss conditions for stability in the presence of natural dam...

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions. ! 1999 Elsevier Science Ltd. All righ...

This work seeks to improve dynamic accuracy of viewpoint tracking for Augmented Reality. Using an inverted pendulum to model the head, dynamic orientation sensing in a vertical plane is achieved using only a dual axis accelerometer. A unique solution is presented as conventional approaches to solve the model equations fail to produce stable results due to ill conditioning. Accuracy is limited b...

We report an empirical study on the application of machine learning to the modelling of novice controllers’ skills in balancing a pole (inverted pendulum) on top of a cart. Results are presented on the predictive power of the models, and the extent to which they were tailored to each controller. The behaviour of the participants in the study and the behaviour of an interpreter executing their m...

We present a switching approach for the stabilization of the strongly damped inverted pendulum cart system, provided that the pendulum is initialized inside of the upper-half plane, and the linear viscous force is known. The control strategy uses two stabilizing controllers. The first is a nonlinear controller, devoted to bringing the pendulum very close to its unstable equilibrium point. Then,...

Bluetooth is currently emerging as one of the most promising personal wireless network technologies. The automation industry is also showing interest in using Bluetooth for more industrial applications. However, problems with unreliable links and time delays must be explicitly addressed in any wireless control application. This paper discusses two specific problems that may occur when using Blu...

This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearized model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and ...

Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action. The FSM technique adopted is based on a piecewise linear...