In this paper a pendulum of two degrees of freedom is investigated, i.e. a spherical pendulum which is attached to the end effector of an industrial robot manipulator. The result of the presented research is a controllable transport of the pendulum in all three dimensions. That means a real time control of the pendulum during all the time of the transport and a stable reaction of suddenly chang...

Abstract The goal of this paper is to determine the laws observed trajectories assuming that there a mechanical system in background and using these continue motion plausible way. are represented by neural networks with limited number parameters. training follows extreme learning machine idea. We for different levels embedding, thus we can represent not only equation but also symmetries kinds. ...

The inverted pendulum is a canonical problem in both Nonlinear Dynamics and Control Theory. In this article, the phenomenon of dynamic stabilization of the vertically driven inverted pendulum is investigated experimentally and numerically. We resolve the first stabilizing boundary in driving parameter space, as well as investigate the effects of frictional damping on the dynamics of the pendulu...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

The mechanical properties of a boxing punch have been determined using several techniques. The results are consistent with the medical consequences of boxing discussed in the report of the Board of Science and Education Working Party on boxing. Data were gathered from a world ranked British professional heavyweight, Frank Bruno, as he punched an instrumented, padded target mass suspended as a b...

This paper describes a preliminary investigation into the use of normal form theory for modelling large non-linear dynamical systems. Limit cycle oscillations are determined for simple two-degree-of-freedom double pendulum systems. The double pendulum system is reduced into its centre manifold before computing normal forms. Normal forms are obtained using a period averaging method which is appl...

Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC) was applied to evaluate the performance of the MPC controller and tune its parameters. The ...

In this paper the dynamics of the controlled pendulum is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by a piecewise constant control force which is the linear combination of the sampled values of the angle and the angular velocity of the pendulum. The control force is provided by a motor which drives one of the wheels of the cart through a...

In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to...

Trout learned the operant task of pendulum-pressing for a food-reward in a mean of 4.3 sessions lasting 1 hr. In a separate phase, fish also learned--through classical conditioning--to associate a neutral light cue with an aversive stimulus. When again allowed to pendulum-press for food, after aversive classical conditioning, there was a drop in the rate of responding. The mean rate dropped fro...