scholarly journals Design of a hybrid adaptive controller for an inverted pendulum hindered by a moving weight. Causes of and compensation for limit cycles.

1987 ◽  
Vol 107 (8) ◽  
pp. 1026-1032
Author(s):  
Masatoshi Nakamura ◽  
Shunji Tahara
Keyword(s):  
Limit Cycles ◽  
Inverted Pendulum ◽  
Adaptive Controller

Real-time control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum

2019 ◽  
Vol 46 (1) ◽  
pp. 159-170 ◽  
Author(s):  
Tayfun Abut ◽  
Servet Soyguder
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Adaptive Controller ◽  
Performance Criteria ◽  
Real Time Control ◽  
Content Type ◽  
Time Control ◽  
Self Tuning ◽  
Fuzzy Adaptive Controller ◽  
Fuzzy Adaptive

PurposeThis paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.Design/methodology/approachAs inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.FindingsAs a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.Originality/valueIn this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

Balancing a Rotary Double Inverted Pendulum using Two-loops Adaptive Controller based on Dynamic Inversion Technique

2021 ◽  
Author(s):  
Mohd Heidir Mohd Shah ◽  
Ibrahim M. Mehedi ◽  
Ubaid M. Al-Saggaf ◽  
Ahmad H. Milyani ◽  
Nordin B Saad ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Adaptive Controller ◽  
Dynamic Inversion ◽  
Inversion Technique

Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems

2021 ◽  
Author(s):  
Mark Yeatman ◽  
Robert D. Gregg
Keyword(s):  
Limit Cycles ◽  
Energy Function ◽  
Inverted Pendulum ◽  
Control Parameters ◽  
Energy Shaping ◽  
Constant Energy ◽  
Gait Characteristics ◽  
Hopping Robot ◽  
Control Framework ◽  
Globally Stable

Abstract This paper explores new ways to use energy shaping and regulation methods in walking systems to generate new passive-like gaits and dynamically transition between them. We recapitulate a control framework for Lagrangian hybrid systems, and show that regulating a state varying energy function is equivalent to applying energy shaping and regulating the system to a constant energy value. We then consider a simple 1-dimensional hopping robot and show how energy shaping and regulation control can be used to generate and transition between nearly globally stable hopping limit cycles. The principles from this example are then applied on two canonical walking models, the spring loaded inverted pendulum (SLIP) and compass gait biped, to generate and transition between locomotive gaits. These examples show that piecewise jumps in control parameters can be used to achieve stable changes in desired gait characteristics dynamically/online.

scholarly journals Energy-Based Limit Cycle Compensation for Dynamically Balancing Wheeled Inverted Pendulum Machines

2013 ◽  
Author(s):  
Hari Vasudevan ◽  
Aaron M. Dollar ◽  
John B. Morrell
Keyword(s):  
Limit Cycle ◽  
Limit Cycles ◽  
Inverted Pendulum ◽  
Control Design ◽  
Rolling Friction ◽  
Drive Train ◽  
Wheeled Inverted Pendulum ◽  
Energy Behavior ◽  
Mechanical Reconfiguration ◽  
Second Period

In this paper we present an energy-based algorithm to minimize limit cycles in dynamically balancing wheeled inverted pendulum (IP) machines. Because the algorithm is not based on the numerical value of parameters, performance is robust and accounts for mechanical reconfiguration and wear. The effects of phenomena such as drive-train friction, rolling friction, backlash and sensor bandwidth are well known, causing either limit cycles or instabilities in IP balancing machines and yet compensation or control design to mitigate these effects are not well known. The effects of these non-linearities can be observed in the energy behavior of IP balancing machines, hence, as a broader goal we seek to establish an energy-based framework for the investigation of non-linearities in this class of machines. We successfully demonstrate the effectiveness of our algorithm on a two-wheeled IP balancing machine, “Charlie”, developed in our laboratory. As an example we show a reduction in the amplitude of limit cycles by 95.9% in wheel angle and 89.8% in pitch over a 10 second period.

A Better Stability Control of Inverted Pendulum System Using FMINCON Based FOPID Controller Over Fractional Order Based MRAC Controller

2019 ◽  
Vol 8 (1) ◽  
pp. 18-30
Author(s):  
Deep Mukherjee ◽  
Palash Kundu ◽  
Apurba Ghosh
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Adaptive Controller ◽  
Stability Control ◽  
Pendulum System ◽  
Stability Performance ◽  
Inverted Pendulum System ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

In this article, a stability analysis on an inverted pendulum system has been approached using a fractional order PID controller and a fractional order-based model reference adaptive controller. A modified MIT rule provides an extra degree of freedom, unlike an MIT rule of MRAC controllers to stablize the pendulum angle of the inverted pendulum system which is highly unstable in nature. Here, to analyze better stability performance of the inverted pendulum over the fractional order MIT rule of MRAC controller optimal fractional order, a PID controller has been approached and FMINCON numerical optimization algorithm has been chosen to optimize the fractional order PID controller using ITSE as a scaler objective function. Next, the behaviourial characteristics of the pendulum have been compared between the FMINCON-based FOPID controllers and the fractional order MIT rule of the MRAC controller to show robust performance using an optimal FOPID controller with respect to performance indices increases time, settling time, followed by errors ISE, IAE, ITSE.

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