Design and simulation of control systems of an inverted pendulum

Robotica ◽  
1988 ◽  
Vol 6 (3) ◽  
pp. 235-241 ◽  
Author(s):  
Qing Feng ◽  
Kazuo Yamafuji
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Control Systems ◽  
Inverted Pendulum ◽  
Control Method ◽  
Pole Assignment ◽  
Optimal Control Method ◽  
Feedback Control Systems ◽  
Preliminary Study ◽  
Two Degree Of Freedom

SUMMARYThis is a preliminary study to provide useful information for the design of the control of a monocycle which is one of the intelligent movable robots. In this paper, the two-degree-of-freedom monocycle is modeled by an inverted pendulum with a controlling arm pivoted at its upper end. The controlling arm is rotated to give the pendulum restoring moment.The feedback control systems for the model have been designed using two methods – the pole assignment and the optimal control, respectively. Simulations of the control systems designed with the above methods are carried out on a personal computer. Although the pendulum can be stabilized with either of these methods, it is found that the optimal control method is superior to the pole assignment one, because in the former the control system can be designed to be suitably corresponding to the design demands based on a definite criterion.

Study of Commercial Vehicle Active Seat Suspension

2013 ◽  
Vol 441 ◽  
pp. 641-644
Author(s):  
Gong Yu Pan ◽  
Hai Yang ◽  
Yong Tian Liu
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Commercial Vehicle ◽  
Control Method ◽  
Simulation Models ◽  
Seat Suspension ◽  
Optimal Control Method ◽  
Simulation Results ◽  
Set Up ◽  
Vehicle Seat

A 7-DOF half-car dynamic model which includes the cab mounting system and seat suspension system was established to study the performance of active seat suspension. The optimal control method was applied to design the active control system. Two dynamic simulation models of the passive seat suspension and the active seat suspension were set up by Matlab/Simulink, and the performance of the passive and active seat system was simulated in the time and frequency domain. The simulation results show that the active seat suspension can greatly improve the vehicle seat performance and the study has supplied the academic reference in the applications of the active seat suspension.

scholarly journals The parameterization of all two-degree-of-freedom strongly stabilizing controllers

1970 ◽  
Vol 7 (1) ◽  
pp. 88-96
Author(s):  
Tatsuya Hoshikawa ◽  
Kou Yamada ◽  
Yuko Tatsumi
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Output Characteristic ◽  
Degree Of Freedom ◽  
Input Output ◽  
Stabilizing Controller ◽  
Stabilizing Controllers ◽  
Feedback Control Systems ◽  
Two Degree Of Freedom

When a plant can be stabilized by using a stable controller, the controller is said to be a strongly stabilizing controller. The importance of strong stabilizations is to solve some problems occurred by using unstable stabilizing controllers, for example, feedback control systems become high sensitive for disturbances. Parameterizations of all strongly stabilizable plants and of all stable stabilizing controllers have already proposed. However, stable stabilizing controllers designed by using their parameterization cannot specify the input-output characteristic and the feedback characteristic separately. One of the ways to specify these characteristics separately is to use a twodegree-of-freedom control system. However, the parameterization of all two-degree-of-freedom strongly stabilizing controllers has not been examined. The purpose of this paper is to propose the parameterization of all two-degree-of-freedom strongly stabilizing controllers for strongly stabilizable plants.

scholarly journals Development of an optimal control system with pulse control in the rotor circuit for cargo movement mechanisms

2021 ◽  
Vol 288 ◽  
pp. 01107
Author(s):  
Alexey Sinyukov ◽  
Tatyana Sinyukova ◽  
Victor Meshcheryakov ◽  
Elena Gracheva
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Control Systems ◽  
Control Method ◽  
Asynchronous Motor ◽  
Optimal Control System ◽  
Advantages And Disadvantages ◽  
Start Up ◽  
Efficient Control ◽  
Pulse Regulation

The paper analyzes the methods of starting an asynchronous motor with a phase rotor. The control system used on the object under consideration, the mechanism of cargo movement, is obsolete. Current problems in modern production are measures aimed at energy saving at all stages of production, as well as ensuring the necessary dynamic indicators of control systems. In this paper, several control systems for the mechanism of cargo movement are considered and investigated. The optimal control system for several indicators is proposed. The Matlab Simulink package simulates various start-up methods, namely: direct start-up from the network, rheostatic start-up of an asynchronous motor with a phase rotor, pulse start-up of an asynchronous motor with a phase rotor, asynchronous-valve stage and asynchronous-valve stage with pulse regulation. According to the obtained graphs, a comparison is made and conclusions are drawn about the advantages and disadvantages of each of the start-up methods, as well as graphs of the consumption of active and reactive energy of each of the methods and the most energy-efficient control method is identified.

scholarly journals Optimal control of feedback control systems governed by systems of evolution hemivariational inequalities

Filomat ◽  
2018 ◽  
Vol 32 (15) ◽  
pp. 5205-5220 ◽  
Author(s):  
Lu-Chuan Ceng ◽  
Zhenhai Liu ◽  
Jen-Chih Yao ◽  
Yonghong Yao
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Existence Result ◽  
Sufficient Conditions ◽  
Hemivariational Inequalities ◽  
Feedback Control System ◽  
Feedback Control Systems ◽  
Evolution Hemivariational Inequalities

In this paper, we introduce and consider a feedback control system governed by the system of evolution hemivariational inequalities. Several sufficient conditions are formulated by virtue of the properties of multimaps and partial Clarke?s subdifferentials such that the existence result of feasible pairs of the feedback control systems is guaranteed. Moreover, an existence result of optimal control pairs for an optimal control system is also established.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

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