scholarly journals Design controler of the quasi-time optimization approach for stabilizing and trajectory tracking of inverted pendulum

2018 ◽  
Vol 226 ◽  
pp. 02007 ◽  
Author(s):  
Nguyen Xuan Chiem ◽  
Hai Nguyen Phan
Keyword(s):  
Inverted Pendulum ◽  
External Disturbance ◽  
Reference Signal ◽  
Lyapunov Stability Theory ◽  
Vertical Position ◽  
Control Law ◽  
Optimization Approach ◽  
Time Control ◽  
Time Optimization ◽  
Better Than

This article describes the method of stabilizing and tracking the trajectory of the inverted pendulum with the quasi-time optimization approach. The controller proposed in this paper is not only to stabilize the inverted pendulum in a vertical position but also to cause the inverted pendulum to follow a predetermined reference signal even when there is an interference effect. The focus of this project is the design of a quasi-time control law based on the quasi-time optimization approach and Lyapunov stability theory. The simulation and experimental results suggest that the proposed controller controls the inverted pendulum balance and cart position stability which are better than the LQR method even when there is an external disturbance effect.

Output tracking and disturbance rejection for 1-D anti-stable wave equation

2019 ◽  
Vol 25 ◽  
pp. 69 ◽  
Author(s):  
Hua-Cheng Zhou
Keyword(s):  
Wave Equation ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Reference Signal ◽  
Original System ◽  
Delay Systems ◽  
Transport Systems ◽  
Control Law ◽  
Proportional Control ◽  
Output Tracking

In this paper, we solve the output tracking and disturbance rejection problem for a system described by a one-dimensional anti-stable wave equation, with reference and disturbance signals that belong to W1,∞[0, ∞) and L∞[0, ∞), respectively. Generally, these signals cannot be generated from an exosystem. We explore an approach based on proportional control. It is shown that a proportional gain controller can achieve exponentially the output tracking while rejecting disturbance. Our method consists of three steps: first, we convert the original system without disturbance into two transport equations with an ordinary differential equation by using Riemann variables, then we propose a proportional control law by making use of the properties of transport systems and time delay systems. Second, based on our recent result on disturbance estimator, we apply the estimation/cancellion strategy to cancel to the external disturbance and to track the reference asymptotically. Third, we design a controller using a state observer. Since disturbance does not appear in the observer explicitly (the disturbance is exactly compensated), the controlled output signal is exponentially tracking the reference signal. As a byproduct, we obtain a new output feedback stabilizing control law by which the resulting closed-loop system is exponentially stable using only two displacement output signals.

scholarly journals Low-Complexity Run-time Management of Concurrent Workloads for Energy-Efficient Multi-Core Systems

2020 ◽  
Vol 10 (3) ◽  
pp. 25
Author(s):  
Ali Aalsaud ◽  
Fei Xia ◽  
Ashur Rafiev ◽  
Rishad Shafik ◽  
Alexander Romanovsky ◽  
...  
Keyword(s):  
Time Management ◽  
Energy Efficient ◽  
Low Cost ◽  
Low Complexity ◽  
Optimization Approach ◽  
System Configuration ◽  
Efficient System ◽  
Time Control ◽  
Time Optimization ◽  
Run Time

Contemporary embedded systems may execute multiple applications, potentially concurrently on heterogeneous platforms, with different system workloads (CPU- or memory-intensive or both) leading to different power signatures. This makes finding the most energy-efficient system configuration for each type of workload scenario extremely challenging. This paper proposes a novel run-time optimization approach aiming for maximum power normalized performance under such circumstances. Based on experimenting with PARSEC applications on an Odroid XU-3 and Intel Core i7 platforms, we model power normalized performance (in terms of instruction per second (IPS)/Watt) through multivariate linear regression (MLR). We derive run-time control methods to exploit the models in different ways, trading off optimization results with control overheads. We demonstrate low-cost and low-complexity run-time algorithms that continuously adapt system configuration to improve the IPS/Watt by up to 139% compared to existing approaches.

Nonlinear Control of an Inverted Pendulum on a Cart by a Single Control Law

2013 ◽  
Vol 464 ◽  
pp. 279-284 ◽  
Author(s):  
Aydın Özbey ◽  
Erol Uzal ◽  
Hüseyin Yildiz
Keyword(s):  
Nonlinear Control ◽  
Global Stability ◽  
Mechanical System ◽  
Feedback Linearization ◽  
Numerical Experiments ◽  
Inverted Pendulum ◽  
Vertical Position ◽  
Control Law ◽  
Underactuated Mechanical System ◽  
Control Scheme

Stabilization at the top vertical position of an inverted pendulum on a cart, while bringing the cart to a desired position, by applying a force to the cart is considered. This is an underactuated mechanical system for which the main nonlinear control scheme, feedback linearization, fails. A single control law producing the force on the cart using cart velocity, and position and velocity of the pendulum is developed and shown, by numerical experiments, to asymptotically stabilize the pendulum at the top position while bringing the cart to its origin, although no attemp is made for a proof of global stability.

scholarly journals Pinning Control Strategy of Multicommunity Structure Networks

2017 ◽  
Vol 2017 ◽  
pp. 1-8
Author(s):  
Chao Ding ◽  
Hong Yao ◽  
Jun Du ◽  
Xing-zhao Peng ◽  
Zhe Wang
Keyword(s):  
Community Structure ◽  
Control Strategy ◽  
Coupling Strength ◽  
Lyapunov Stability Theory ◽  
Pinning Control ◽  
Control Law ◽  
Structure Information ◽  
The Stability ◽  
Intensive Control ◽  
Better Than

In order to investigate the effects of community structure on synchronization, a pinning control strategy is researched in a class of complex networks with community structure in this paper. A feedback control law is designed based on the network community structure information. The stability condition is given and proved by using Lyapunov stability theory. Our research shows that as to community structure networks, there being a threshold hT≈5, when coupling strength bellows this threshold, the stronger coupling strength corresponds to higher synchronizability; vice versa, the stronger coupling strength brings lower synchronizability. In addition the synchronizability of overlapping and nonoverlapping community structure networks was simulated and analyzed; while the nodes were controlled randomly and intensively, the results show that intensive control strategy is better than the random one. The network will reach synchronization easily when the node with largest betweenness was controlled. Furthermore, four difference networks’ synchronizability, such as Barabási-Albert network, Watts-Strogatz network, Erdös-Rényi network, and community structure network, are simulated; the research shows that the community structure network is more easily synchronized under the same control strength.

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

Optimization approach to the constrained regulation problem for linear continuous-time fractional-order systems

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Xindong Si ◽  
Hongli Yang
Keyword(s):  
Feedback Control ◽  
Fractional Order ◽  
State Feedback Control ◽  
Invariant Sets ◽  
Linear Feedback ◽  
Control Law ◽  
Optimization Approach ◽  
Fractional Order Systems ◽  
Linear Feedback Control ◽  
Computational Point

AbstractThis paper deals with the Constrained Regulation Problem (CRP) for linear continuous-times fractional-order systems. The aim is to find the existence conditions of linear feedback control law for CRP of fractional-order systems and to provide numerical solving method by means of positively invariant sets. Under two different types of the initial state constraints, the algebraic condition guaranteeing the existence of linear feedback control law for CRP is obtained. Necessary and sufficient conditions for the polyhedral set to be a positive invariant set of linear fractional-order systems are presented, an optimization model and corresponding algorithm for solving linear state feedback control law are proposed based on the positive invariance of polyhedral sets. The proposed model and algorithm transform the fractional-order CRP problem into a linear programming problem which can readily solved from the computational point of view. Numerical examples illustrate the proposed results and show the effectiveness of our approach.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

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