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....

This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joi...

An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form rep...

An alternative to the Iterative Newton-Euler or linked segment model was developed to compute lower extremity joint moments using the mechanics of the double pendulum. The double pendulum model equations were applied to both the swing and stance phases of locomotion. Both the Iterative Newton-Euler and double pendulum models computed virtually identical joint moment data over the entire stridec...

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.

In this article, we propose a new reinforcement learning (RL) method based on an actor-critic architecture. The actor and the critic are approximated by Normalized Gaussian Networks (NGnet), which are networks of local linear regression units. The NGnet is trained by the on-line EM algorithm proposed in our previous paper. We apply our RL method to the task of swinging-up and stabilizing a sing...

One of the challenges using recycled materials in road structures is to maintain safe and durable pavements. A multitude research has been conducted over years on various materials, with a focus structural performance Another crucial, but almost overlooked, aspect pavement’s ability provide adequate skid resistance for users under different climatic conditions. With this mind, present study aim...

Various behavior types of reaction forces and Lagrange multipliers for the case mechanical systems with configuration space singularities are studied in this paper. The motion a one-dimensional double pendulum (or singular pendulum) transversal point or first order tangency is considered. Properties depends on constraint line which free vertex moves along. Configuration could be represented by ...

A new type of adaptive neural network fuzzy controller based on the stability for the double inverted pendulum control problem is introduced. The method uses a fusion function to reduce the dimension of the system, reducing the number of input variables to solve the fuzzy rule explosion problem. In order to optimize and amend the front-part and later-part parameter of TakagiSugeno fuzzy model, ...

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform ...