Emotional control of inverted pendulum system: A soft switching from imitative to emotional learning

2009 ◽  
Author(s):  
Mehrsan Javan-Roshtkhari ◽  
Arash Arami ◽  
Caro Lucas
Keyword(s):  
Inverted Pendulum ◽  
Emotional Learning ◽  
Soft Switching ◽  
Emotional Control ◽  
Pendulum System ◽  
System A ◽  
Inverted Pendulum System

scholarly journals CONTROL OF THE TWO DoF INVERTED PENDULUM

2014 ◽  
Vol 4 (2) ◽  
Author(s):  
M. Fajar
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Multibody System ◽  
Pole Placement ◽  
Pendulum System ◽  
System A ◽  
Inverted Pendulum System ◽  
Feedback Method ◽  
And Control ◽  
Pole Placement Control

This paper describes how to simulate and control the two DoF inverted pendulum system, a dynamics of multibody system. The control strategy used is based on the conventional feedback method for the stabilisation of the two DoF inverted pendulum system. Simulation study has been done shows that conventional method i.e. pole placement control strategy is capable to control multi input and multi output of the two DoF inverted pendulum system successfully. The result shows that pole placement control strategy gives satisfactory response that is presented in time domain.

Output feedback stabilization of the inverted pendulum system: a Lyapunov approach

2012 ◽  
Vol 70 (1) ◽  
pp. 767-777 ◽  
Author(s):  
Carlos Aguilar-Ibáñez ◽  
Miguel S. Suarez-Castanon ◽  
Nareli Cruz-Cortés
Keyword(s):  
Output Feedback ◽  
Inverted Pendulum ◽  
Feedback Stabilization ◽  
Pendulum System ◽  
Lyapunov Approach ◽  
Output Feedback Stabilization ◽  
System A ◽  
Inverted Pendulum System

Exquisite disturbance attenuation control for a rotary inverted pendulum

2016 ◽  
Vol 40 (3) ◽  
pp. 812-818 ◽  
Author(s):  
Shuaipeng He ◽  
Chuanlin Zhang ◽  
Ning Yang ◽  
Hui Li
Keyword(s):  
Inverted Pendulum ◽  
Disturbance Attenuation ◽  
Control Performance ◽  
Pendulum System ◽  
Nonlinear Disturbance Observer ◽  
System A ◽  
Inverted Pendulum System ◽  
Nonlinear Disturbance ◽  
Simulation Results ◽  
Rotary Inverted Pendulum

This paper investigates the problem of active disturbance attenuation control for a rotary inverted pendulum system. A nonlinear disturbance observer is first constructed to estimate the lumped disturbances, and then a feedback domination technique is integrated to handle the nonlinearities in a novel step-by-step way. Hence an exquisite composite controller can be constructed with strong robustness while the nominal control performance can be maintained. By utilizing a recursive stability analysis based on a Lyapunov function, the effectiveness of the proposed controller is assured. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.

Optimal Design of LQR Controller for Single Inverted Pendulum

2012 ◽  
Vol 472-475 ◽  
pp. 1505-1509
Author(s):  
Yong Peng ◽  
Zhi Neng Liu
Keyword(s):  
Genetic Algorithm ◽  
Inverted Pendulum ◽  
Weighting Coefficient ◽  
Structural Dynamic ◽  
Pendulum System ◽  
System A ◽  
Inverted Pendulum System ◽  
The Matrix ◽  
Lqr Controller ◽  
Selection Of

Aiming to the multi-variable, non-linear, high-order, close coupled, inverted pendulum system, a mathematical model of the inverted pendulum was established. The LQR controller was put forwards according to this model. In the LQR controller, the selection of the weight matrix Q and R directly impact on structural dynamic response and controlling force. How to determine the optimal Q and R to obtain the global optimal control is still a problem. The matrix Q and R were optimized based on genetic algorithm with different objective functions and the results were verified here. The simulation results show that the optimal preference weighting coefficient were obtained by genetic algorithm and the satisfactory factors can be selected by the designer according to the preference, while the subjectivity and blindness of the conventional method have been overcame.

scholarly journals Stabilising a cart inverted pendulum with an augmented PID control scheme

2018 ◽  
Vol 197 ◽  
pp. 11013
Author(s):  
Indrazno Siradjuddin ◽  
Zakiyah Amalia ◽  
Budhy Setiawan ◽  
Ferdian Ronilaya ◽  
Erfan Rohadi ◽  
...  
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Control Algorithms ◽  
Pendulum System ◽  
Lagrange’S Equation ◽  
System A ◽  
Inverted Pendulum System ◽  
Best Response ◽  
Control Scheme

A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value of kPX 190, kDX 50, kIX 5, kPθ 140, kDθ 5, and kIθ 25.

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