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1
Oyama, Hiroshi, Takayuki Ukai, Hiroaki Takada, and Takuya Azumi. "Wheeled Inverted Pendulum with Embedded Component System : A Case Study." IEEE, 2010. http://hdl.handle.net/2237/14474.
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Cheang, Sek Un. "Robust control system design : H∞ loop shaping for double inverted pendulum." Thesis, University of Macau, 2002. http://umaclib3.umac.mo/record=b1445662.
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Maeda, Ken. "Nonlinear control system of inverted pendulum based on input-output linearization." Diss., Online access via UMI:, 2006.
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Gustavsson, Martin, and Viktor Frimodig. "Virtual Prototyping and Physical Validation of an Inverted Pendulum : "Sea-Calf Bot"." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-27946.
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The work is motivated by the goal of linking reality and model, and to see if there is an opportunity to develop an inexpensive educational tool for training in cyber-physical systems. This project has investigated the possibilities to build a cheap inverted pendulum with controller and connect this with the modeling language Acumen. Acumen models is used for comparison with the actual prototype. To solve these problems has a 3D printer been used to create hardware, Arduino UNO for control and Raspberry Pi for enable communication with Acumen over WLAN. The result was a cheap inverted pendulum, which can be built for a cost around 750 SEK. Graphs created in Acumen and from data collected from sensors can be analyzed. With a model of the inverted pendulum system, the results show that Acumen can be used in the development of cyber-physical systems. There are differences between model and reality but also similarities.Arbetet motiveras av målet att knyta samman verklighet och modell, samt att se om det finns möjlighet att utveckla ett billigt utbildningsverktyg för utbildning i cyberfysiska system. Detta projekt har undersökt möjligheter att bygga en billig inverterad pendel med regulator samt koppla samman denna med modelleringsspråket Acumen. I Acumen skapa en modell av systemet och jämföra den med en fysisk prototyp. För att lösa dessa problem har en 3D skrivare använts för att skapa hårdvara. Arduino UNO för styrning och Raspberry Pi för att möjligöra kommunikation med Acumen över WLAN. Resultatet blev en billig inverterad pendel, som kan byggas för en kostnad runt 750 kr. Grafer från Acumen, och från data samlad från sensorer kan analyseras. Med en modell av en inverterad pendel visar resultaten att Acumen kan användas i utveckling av cyberfysiska system. Skillnader finns mellan modell och verklighet men även likheter.
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Phillips, Lara C. (Lara Christine). "Control of a dual inverted pendulum system using linear-quadratic and H-infinity methods." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/36507.
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Bustamante, Montes Luis Gabriel. "Design and implementation of fuzzy logic and PID controllers to balance an inverted pendulum system." Scholarly Commons, 1994. https://scholarlycommons.pacific.edu/uop_etds/2267.
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A PID controller and a Fuzzy Logic controller were designed to balance an inverted pendulum system. Both controllers were implemented in a Digital Signal Processor (DSP). Measurements of the angular position of the pendulum (feedback signal) were taken from a precision potentiometer and transformed into digital by an Analog Interface Board (AlB) to be processed by the DSP. The DSP generated the digital control signal that was converted into analog by the AlB and then filtered and amplified to drive a DC motor. The DC motor provided the control force for the mobil base where the inverted pendulum was mounted. The PID controller was designed to move an unstable pole of the system from the tight side of the s-plane into the left side of the s-plane to provide stability and fast response. The Fuzzy Logic controller was designed using thirteen control rules that were generated using human intuition. It was found that the Fuzzy Logic controller required a considerably larger amount of memory than the PID controller. In general, the Fuzzy Logic controller performed better than the PID controller. It was concluded that nonlinearities present in some components of the system caused the PID controller not to perform as well. It was also found that the Fuzzy Logic controller was less sensitive to these nonlinearities, resulting in a better control of the inverted pendulum.
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Robillard, Dominic. "Development of a Stair-Climbing Robot and a Hybrid Stabilization System for Self-Balancing Robots." Thesis, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/31840.
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Self-balancing robots are unique mobile platforms that stay upright on two wheels using a closed-loop control system. They can turn on the spot using differential steering and have compact form factors that limit their required floor space. However they have major limitations keeping them from being used in real world applications: they cannot stand-up on their own, climb stairs, or overcome obstacles. They can fall easily if hit or going onto a slippery surface because they rely on friction for balancing. The first part of this research proposes a novel design to address the above mentioned issues related to stair-climbing, standing-up, and obstacles. A single revolute joint is added to the centre of a four-wheel drive robot onto which an arm is attached, allowing the robot to successfully climb stairs and stand-up on its own from a single motion. A model and simulation of the balancing and stair-climbing process are derived, and compared against experimental results with a custom robot prototype. The second part, a control system for an inverted pendulum equipped with a gyroscopic mechanism, was investigated for integration into self-balancing robots. It improves disturbance rejection during balance, and keeps equilibrium on slippery surfaces. The model of a gyroscope mounted onto an actuated gimbal was derived and simulated. To prove the concept worked, a custom-built platform showed it is possible for a balancing robot to stay upright with zero traction under the wheels.
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Houchin, Scott J. "Pendulum : controlling an inverted pendulum using fuzzy logic /." Online version of thesis, 1991. http://hdl.handle.net/1850/11294.
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Shao, Jindi. "Dynamics and nonlinear control of unstable inverted pendulum systems." Thesis, Lancaster University, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.296946.
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Kong, Kou A. "Fuzzy logic PD control of a non-linear inverted flexible pendulum." [Chico, Calif. : California State University, Chico], 2009. http://hdl.handle.net/10211.4/90.
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Cejpek, Zdeněk. "Návrh řízení rotačního inverzního kyvadla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-402547.
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Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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Jacobs, Gregory. "Simulation, Control Design, and Experiments on Single and Double Inverted Pendulum Systems." Thesis, Southern Illinois University at Edwardsville, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10010746.
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The discipline of control engineering has been applied for thousands of years. As long as humans have needed a system to vary automatically, different devices, electronics and algorithms have been designed to attain system control and stability. This study intends on implementing the theory developed my mathematicians such as Henri Poincaré, Aleksandr Lyapunov, Rudolf E. Kálmán and many others in an attempt to stabilize an unstable system: a cart and inverted pendulum. In order to stabilize the inverted pendulum system, control designs consisting of both classical and modern approaches will be explored to design effective PID and LQR controllers. Furthermore, an adaptive controller will be designed as well for a one-degree-of-freedom unstable system. For accurate control design, linear and non-linear system identification techniques will be used to attain mathematical dynamic system models. Multiple tuning techniques will be utilized to achieve the most stable system possible. A micro-processor (Arduino) will be used in conjunction with a computer for data communication and digital control algorithms. The utilization of an Arduino will require the design and implementation of digital control systems, digital tuning techniques, and digital filtering. If successful, the implemented theory will result in the stabilization of a multiple degree of freedom system with chaotic potential.
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Hung, Hsin-Chieh, and 洪信介. "DSP-based Inverted Pendulum System Implementation." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/13770622869708532962.
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碩士國立臺灣海洋大學
電機工程學系
98
An inverted pendulum is a nonlinear, unstable and non-minimum phase system. It is a popular experimental platform for control theory verification. In the thesis, a digital signal processor (DSP) is used to control the inverted pendulum cart system. The DSP has the sufficient computational power and facilities to sense, process and control the pendulum system in real time. In this experiment, the VP2812EVM DSP board is combined with the incremental encoder, DC motor and other related circuits to perform tasks of system identification and balancing control.
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CHEN, BO REN, and 沈博仁. "Intelligent Control Design for Inverted Pendulum System." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/18982137908968688964.
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Chen, Shin-Yuan, and 陳信元. "Intelligent Control for Flywheel Inverted Pendulum System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/74625129104425031641.
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碩士清雲科技大學
機械工程所
101
This study is proposed the flywheel inverted pendulum (FIP), the newest inverted-pendulum-like device for control education and research. The flywheel inverted pendulum exhibits several properties, such as under-actuation and nonlinearity, which make it an appealing and valuable for research, industry application, and advanced control lab course. From a mechanical viewpoint, the proposed FIP system is a simple pendulum with a rotating wheel at the end. It owns two degrees of freedom. The wheel is attached to the shaft of a DC motor, and the coupling torque between the wheel and pendulum can be used to control the motion of the system. The objectives of the research are to construct a novel prototype and develop control environment for FIP system. The dynamic equation based on Lagrangian formulation has been developed. The controller was implemented using MATLAB and Simulink during experiments. The control algorithm is divided into three steps: swing-up, standing up, and balancing. Moreover, several controllers which include Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), and Adaptive-Network-Fuzzy-Inference (ANFIS), have been implemented for such model verification.
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Hsu, Chih-Wei, and 許志偉. "Controller Design of an Inverted Pendulum System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/a4baja.
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碩士國立虎尾科技大學
飛機工程系航空與電子科技碩士班
104
The inverted pendulum is an inherently unstable and nonlinear dynamic system which is used to verify the feasibility of nonlinear control theories. This study aims to build up a dynamic model of a rotary inverted pendulum and design controllers in which the optimal control design method based on linear dynamic model and the sliding mode control method based on nonlinear dynamic model are respectively adopted.Moreover, the LabVIEW is used to implement the controller design and evaluate the performance of two controller designs for comparison.
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DABRETAU, Teerapong, and Ali DAREINI. "Control of Double Inverted Pendulum First Approach." Thesis, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-1058.
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An Inverted double pendulum is a combination of two individual pendulums which represents an example of a nonlinear and unstable dynamic system and it is also a good example of a physical system which can exhibit chaotic behavior.This document contains a first analysis of the model and the control of this system. Also presented is the installation of the electrical materials needed to control the system contain instrumenting the motor, current measurement system, motor shaft angle sensor, vision systemand MYRIO which is an embedded hardware device created by National Instruments will be used for data acquisition and control the system
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Zhong, Zeng Guo, and 曾國忠. "Upright and Position Control for Inverted-Pendulum System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/94728724044714261778.
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碩士大葉大學
電機工程學系碩士班
93
An inverted pendulum system is not too complicated, even it is a highly nonlinear unstable system. We hence adopt various approaches for upright and position control of this physical system. In this research, we first analyze and construct the mathematical models of a car, a pendulum and motor. And then, based on these models, the corresponding LQR and Pole-Placement controller is proposed for the upright and even the position control of the actuator- inverted-pendulum system. We use Matlab software to simulate and demonstrate that the designed controllers can stabilize the inverted pendulum system as well. For implementation, we use Matlab/Simulink for human-machine interface manipulation, write C codes for DSP chip, which via AD/DA card, can convey the control action to drive the actuator-included inverted pendulum system modules for implementation of the upright and position control of the whole inverted pendulum system. To achieve fast and effective control, the fuzzy and neural techniques are combined with LQR/Pole-Placement approaches as fuzzy-neural-based LQR/Pole-Placement controller to improve the position-control of the inverted physical system.
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Chu, Sheng-Renn, and 朱勝任. "control of parallel-type double inverted pendulum system." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/23432671219615228623.
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碩士國立交通大學
控制工程系
84
This thesis is concerned with the analysis and control of a specific type of pendulum-cart mechanical system: parallel-type double inverted pendulum system. Detailed analysis of controllability and stability is presented. The control goal of the system is " both pendulums are stabilized at the upright position and the cart follows the reference position". The sliding mode controller (SMC) and the linear state feedback controller (LSFC) are developed to obtain the desired performance. The design process and simulation results are included and analyzed. The experimental system is constructed and its control system is implemented by a 32-bit personal computer. The feasibility of the discretized system with SMC or LSFC are also demonstrated.
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Lin, Hou-Heng, and 林厚亨. "Control and design of rotation inverted pendulum system." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/69816148840739681522.
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碩士大葉大學
自動化工程研究所
89
Inverted pendulum systems are nonlinear and unstable systems. They are usually used to verify the effectiveness of the proposed control schemes. This paper proposes two controllers in the inverted pendulum system. First one is to linearize this non-linear system and uses the linear theory to design a status feedback controller. Second one proposes a design method of Fuzzy Logic Controller with H-infinite (sub) Robust Control feature. A steady reference model was designed first. The input of this model was the angle of swinging arm and the output was the following angle of the inverted pendulum. One fuzzy system was used to simulate the non-linear dynamic part of this pendulum system. The Fuzzy logic controller with H-infinite (sub) Robust Control feature developed from this fuzzy system was used to force the angle of inverted pendulum to be coincided with the output of the reference model. When the error of these two became near zero, the inverted pendulum became inverted on the vertical position and the angle of swinging arm was close to the original zero position. According to the H-infinite (sub) Robust steady design technique, the error emerged in the fuzzy simulation process can be compensated. The bad effect resulting from this error can be suppressed within any intended ranges. Furthermore, a real swinging type inverted pendulum system was simulated in order to verify the effectiveness of the method proposed in this paper.
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Lin, Hsin-Yu, and 林信佑. "Adaptive Control for Two-Mass Inverted Pendulum System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/75503089546762107532.
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碩士國立屏東科技大學
車輛工程系所
96
In this thesis, the development and implementation of an adaptive control scheme for tracking and stabilization of a two-mass inverted pendulum system has been presented. By utilizing Lyapunov-based stability analysis, the effectiveness of the proposed controller has been demonstrated. In addition, the feasibility of the controller is also demonstrated by computer simulation and experiments.
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Lu, Yu-Ju, and 呂育儒. "Modeling and Control of an Inverted Pendulum System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/43621979279238321136.
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碩士臺灣大學
機械工程學研究所
95
The thesis discusses the controller design and implementation for inverted pendulum systems. Due to the nonlinear and non-minimum phase properties, inverted pendulum systems have been intensively studied in the control field. In this thesis, we focus on the control design of a Furuta pendulum to swing the it up from the bottom stable equilibrium point and balance it at the top unstable equilibrium. Several control algorithms are adopted to design the balanced controller, namely LQR control, sliding mode control, sub-optimal control, normalized coprime factorization control, and the fixed-order control. The performance and robustness of these controllers are compared by simulation and experimental results. Finally, we design and implement a fixed-order controller for a pendubot system.
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Hong, Jie-Ren, and 洪介仁. "Balance Control of a Car-Pole Inverted Pendulum System." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/7fu9a4.
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碩士國立成功大學
工程科學系碩博士班
91
The car-pole inverted pendulum system is an unstable and non-minimum phase system. The mechanism of this system is not complicated so that this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up a car-pole inverted pendulum system. This system includes an armature controlled DC motor, a car, a pendulum, and an optical rotary encoder. Then the mathematical model of the car-pole inverted pendulum system is derived and also the DC motor model is built. The system identification method is then used to determine DC motor parameters. For the control schemes, the pole-placement method and the LQR control law are considered to design the state feedback controller. By comparing the simulation results, performance of the LQR control law is better than that of the pole-placement method. Therefore, the LQR control law is used in the balance control of this system. The control law is implemented through a motion control card. A control panel interface is coded in Visual C++ for controller parameter setting. Moreover balance control of the car-pole inverted system on an incline is studied. The balance controller also uses the LQR control law.
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Chang, Chun-chieh, and 張鈞傑. "The Research of DSP-based Inverted Pendulum Servo System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/93778559442169031162.
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碩士國立臺灣科技大學
機械工程系
96
Inverted pendulum system because of nonlinear, non-minimum phase properties, is suitable for control of the research and development. This discourse is to design a new kind of inverted pendulum. The main structure is that the servo shaft fixed in the pendulum rod, when the servo rotating system so that the weight shift, the torque generated by the pendulum-driven rotation, and let it become an unstable balance system. To sensing system status, the pendulum rod used accelerometers. Use of static acceleration calculated angle. This study used an experimental version of the DSP2407 control modules, to integrate the inverted pendulum peripheral components, and simple fuzzy controller to achieve the balance between inverted pendulum action.
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Wang, Pin-Lan, and 王品嵐. "Infrared Target Tracking with Application to Inverted Pendulum System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/03137719453728075798.
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Lenka, Netranjeeb. "Modeling and Controller Design for an Inverted Pendulum System." Thesis, 2011. http://ethesis.nitrkl.ac.in/2213/1/Inverted_Pendulum.pdf.
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The Inverted Pendulum System is an under actuated, unstable and nonlinear system. Therefore, control system design of such a system is a challenging task. To design a control system, this thesis first obtains the nonlinear modeling of this system. Then, a linearized model is obtained from the nonlinear model about vertical (unstable) equilibrium point. Next, for this linearized system, an LQR controller is designed. Finally, a PID controller is designed via pole placement method where the closed loop poles to be placed at desired locations are obtained through the above LQR technique. The PID controller has been implemented on the experimental set up.
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Ghosh, Sudipto. "Control of Cart-Inverted Pendulum System Using Pole Placement." Thesis, 2016. http://ethesis.nitrkl.ac.in/8426/1/2016_MT_SGhosh.pdf.
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The Cart Inverted Pendulum system has many real life applications like missile launching,balancing systems like human walking,aircraft landing pad in sea etc.Moreover this is a highly unstable and non-linear system and so designing a controller to bring the system to a stable condition is a challenging task.This thesis includes system and hardware description of Inverted Pendulum System,dynamics of the system and its state space model.In this thesis,pole placement methods like two-loop PID and PID+PI have been implemented for Inverted Pendulum System and this control strategies gives stable responses.With the recent devel-opment of LMIs tool,regional pole placement can achieve the goal as well.A regional pole placement controller is also synthesized, where desired specifications are transformed into LMI regions.In present case,a conical sector in the left half plane is taken and the method is implemented. Lastly,a reduced order controller is also designed and its bode magnitude plot is compared with that of the full order controller.The reduced order simplification method has an almost identical frequency response,showing that it can be utilized as well for stabilizing the CIPS.
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Priyadarshi, Prasanna. "Optimal Controller Design for Inverted Pendulum System: An Experimental Study." Thesis, 2013. http://ethesis.nitrkl.ac.in/5449/1/211EE3342.pdf.
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The Cart Inverted Pendulum System (CIPS) has been considered among the most classical and difficult problem in the field of control engineering. The Inverted Pendulum is considered among the typical representative of a class of under actuated, non-minimal system with non-linear dynamics. The aim of this study is to stabilize the Inverted Pendulum such that position of the cart on 1 meter track is controlled quickly and accurately so that pendulum is always maintained erected in its upright (inverted) position. This thesis begins with the explanation of CIPS together with the hardware setup used for research, its state space dynamics and transfer function models after linearizing it. Since, Inverted Pendulum is inherently unstable i.e. if it is left without a stabilizing controller it will not be able to remain in an upright position when disturbed. So, a systematic iterative method for the state feedback design by choosing weighting matrices key to Linear Quadratic Regulator (LQR) design is presented assuming all the states to be available at the output. After that, Kalman Filter, which is an optimal Observer has been designed to estimate all the four states considering process and measurement noises in the system. Then, a Full State Feedback Controller i.e. Linear Quadratic Gaussian (LQG) compensator has been designed. The compensator aims at providing a proper control input that provides a desired output in terms of the Pendulum Angle and Cart Position. Simulation and Experimental study has been carried out to demonstrate the effectiveness of the proposed approach in meeting the desired specifications. Lastly, Loop Transfer Recovery (LTR) analysis has been performed depending on the trade-off between noise suppression and system robustness for suitably selecting the tuning parameter for Observer design.
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Lin, Yu-Hsiang, and 林鈺翔. "Double Link Inverted Pendulum System Swing Up & Balance Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/y3gk72.
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碩士國立成功大學
工程科學系碩博士班
90
The double link inverted pendulum system is an unstable system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. Double link inverted pendulum system has two links moving on the same plane. The control objective is to swing up and then keep the link-2 at upright position (Top & Middle) through swing of the link-1 driven by a DC motor. From system torque point of view, this system is different from the car-pole inverted pendulum and rotary inverted pendulum system. For the car-pole inverted pendulum and rotary inverted pendulum system, the torque exerted on the pendulum arm by the car or rotary arm is independent on the motion position, but the torque of the double link inverted pendulum system exerted on the link-1 by the link-2 is dependent on the angle between the vertical line and link-2. Such foregoing characteristics will create much more difficulty to the control process. In this thesis, the balance controller is based on LQR control law, and the swing up controller adopts energy based control scheme and partial feedback linearization control scheme.
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Chang, Chia-Sheng, and 張嘉勝. "Design and Implementation of a Spherical Inverted Pendulum Control System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/12644408178259657124.
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碩士國立中興大學
電機工程學系所
98
This thesis develops techniques for system design, modeling and hierarchical sliding-mode control of a spherical inverted pendulum control system. A mechatronic approach is employed to design and construct the system structure for the spherical inverted pendulum control system. With the structure, Newtonian and Lagrangian mechanics are respectively employed to establish two types of mathematical models, decoupled and coupled. Both models are shown consistent under two special cases. Hierarchical siding-mode control and backstepping technique are used to propose decoupled and coupled controllers so as to maintain the nutation angle at zero and achieve position tracking at the same time. Via Matlab/Simulink, the effectiveness and merit of both controllers are exemplified by conducting several simulations on the coupled model. Experimental results indicate that the proposed decoupled controller is capable of providing satisfactory control performance for the spherical inverted pendulum.
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Liu, Yun-Tsun, and 劉允存. "Balanced Movement Control of a SCARA Robot-Inverted Pendulum System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62448405164355450116.
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碩士國立中興大學
電機工程學系所
98
The objective of this thesis is to develop a balancing movement control law for a SCARA (Selective Compliant Assembly Robot Arm) robot, on which an inverted pendulum is mounted. The dynamic equations, which govern the motions of both the robot arm and the inverted pendulum altogether, are derived by using the Denavit-Hartenberg method with coordinate transformations and the Lagrange equations. For the balancing movement control design, several pole-placement feedback gains are first obtained (off-line). They are to locally stabilize the linearized dynamic model at the preselected operating points, which define the robot arm movement trajectory. In between the adjacent operating points, a set of fuzzy rules is applied on-line to interpolate the feedback gains along the trajectory. Finally, to enforce movements of the robot arm from the initial position to the destination position, a fixed magnitude, open-loop control law is applied for a short time period to perturb the arm and then the control law switches to the aforementioned closed-loop state feedback to maintain balance for the inverted pendulum for another short period of time. Such an alternating open-loop versus closed-loop control cycle is maintained until the SCARA robot reaches its destination position, when the control law is switched permanently to the closed-loop state feedback.
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Tsai, Ching Lung, and 蔡慶隆. "Fuzzy Control of the Inverted Pendulum System with TS Model." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/12914437927258685999.
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碩士國立宜蘭大學
電機工程學系碩士班
95
The nonlinear inverted-pendulum system is an unstable and non-minimum phase system. It is existence very sensitive to the disturbances. It is often used to be the controlled target to test the qualities of the controllers like PID, Optimal LQR, Neural network, adaptive, and fuzzy logic controller, etc. In this paper, a new hybrid fuzzy controller is presented for a nonlinear inverted pendulum system. This controller design can be combined with two it contains two kinds of controllers (Swing-up and Balancing position). In the swing-up part, we will propose a fuzzy swing-up controller to control the swing-up part of the nonlinear inverted pendulum system. With the basic experience, it hopes to swing the pendulum from under vertical position to upward position by a proposed fuzzy swing-up controller. In the balancing position part, the first will present pole placement balancing and optimal LQR balancing controllers for the balancing position part of the nonlinear inverted pendulum system. It will hope the pendulum can from upward position to upward vertical position and be stabilize, and brings the cart to the command position. This system has a saturated range for the control force. It will reduce the performance of balancing position for the system. Based on this factor, this research proposes TSK Model approach to design pole placement balancing and optimal LQR balancing controllers for the balancing controller of the nonlinear inverted pendulum system. It can hope to increase performance for the balancing position of the system. Finally, the simulation results are included to indicate the great performance and robust of the proposed a new hybrid fuzzy controller for the nonlinear inverted pendulum system.
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Chen, Uan-Shi, and 陳原許. "Adaptive Fuzzy Sliding Mode Control of the Inverted-Pendulum System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/73987132354515854055.
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碩士國立宜蘭大學
電機工程學系碩士班
95
Since the high-nonlinearity and the sensitiveness for the external disturbances, the inverted pendulum-cart system is usually used to test the performance of controllers such as the PID Control, LQR-Optimal Control, Neural-Network Control, Adaptive Sliding Mode Control, and Fuzzy Logic Control, etc. However, to design the traditional controllers often need the accurate mathematic model of the plants. In order to simplify the designed of the controller for an inverted pendulum-cart system, the nonlinearity friction of the cart is usually replaced by the mathematic model which proportion directly with the velocity of a cart. After the inverted pendulum-cart system simplify will not overhang the actions and characters of the system originally, and reduce the integral performance with inverted pendulum-cart system. Therefore, the investigate will combine the fuzzy logic theory and the approach of the sliding mode control to design three fuzzy-hierarchical controllers for the inverted pendulum-cart system with the nonlinearity friction and the limitations on the control action, , and the rail length, . Furthermore, it also adopts the adaptive mechanism to enter into three controllers above to design three adaptive-fuzzy-hierarchical controllers. To control the inverted pendulum-cart system with the six kinds of the controllers previously, it expects to swing-up and balance the inverted pendulum-cart system in seconds. Moreover, to design the controllers by the adaptive mechanisms does not only simplify on devise greatly, but also increases the matching of its parameters with systems. Besides, the six kinds of the controllers are constructed by a main spindle of the fuzzy logic control have the robustness greatly for the uncertain external disturbances and the variable parameters of the system, and after it combines the sliding mode control which is intrinsic robust, the controllers can produce remarkable performance.
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劉錦霖. "Design of Nonlinear H∞ Controllers for an Inverted Pendulum System." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/63543721278047920119.
Full textAbstract:
碩士國立海洋大學
機械與輪機工程學系
89
Inverted pendulum is a nonlinear system. To construct a nonlinear H∞ state feedback controller for the system, it is essential to find a solution for the Hamilton-Jacobi equation (HJE).A successive algorithm is employed to find an approximate solution to the HJE , but the resulting nonlinear H∞ controller is too complicated. We will try to design nonlinear H∞ controllers for the inverted pendulum by exactly solving the Hamilton-Jacobi inequality(HJI). The exact nonlinear controller has a simpler form and much more degree design freedom. Simulations of the closed-loop systems for both the approximate nonlinear H∞ controller and the exact nonlinear controller will be performed and compared. It is found that the exact nonlinear H∞ controller has better performance in term of smaller deviations from the equilibrum condition. Experimental results validate the feasibility of the exact nonlinear H∞ controllers.
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Wei-Chih, Lin, and 林韋志. "Swing-up Trajectory Motion Planning for Nonlinear Inverted Pendulum System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/42515734030682177813.
Full textAbstract:
碩士國立臺北大學
電機工程學系
103
Inverted-pendulum mechanism is a typical nonlinear unstable system, and is usually a good paradigm for verifying performance of various control rules. In this study, the mechanism is employed to verify a new stable state-feedback control policy in which a directional vector field based trajectory motion planning is embedded to make the policy more efficiency. For the policy, the expected but unknown motion trajectory is first divided into finite connected fragments for a series of local time-varying linear quadratic regulation (LQR) control in the state space. To make sure the stability of each individual state, the system creates a procedure based on Lyapunov function to verify a region for state asymptotical stability. Both the coupled LQR control and state stability verification can then be forward in the state space, and thus be ensured to be scheduled for trajectory motion planning. To move the states efficiently forward with the planned trajectory, an attempt to urge the trajectory to follow the intrinsic vector field of plant system is here proposed. In the study, four kinds of the attempt was devised for achieving a better efficiency, and the detailed procedures for the devise were also included as well. The policy is hence implemented to validate the expected effects on the swing-up control of the inverted-pendulum. The experiments show promisingly results for the validation, and confirm the potential capability for further applications.
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Chen, Guan-You, and 陳冠佑. "Control of a double link arm drive inverted pendulum system." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/u327n4.
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碩士國立雲林科技大學
電機工程系碩士班
96
The double link inverted system is a nonlinear and unstable system, with non-minimum phase dynamic characteristic. Moreover, the mechanism of this system is not complicated and can be established easily. These characteristics make the system suitable for control theory research and education purpose. Torque gauge of double link vertical drive inverted pendulum system is dependent on the angle of the drive arm, this makes it more complicated than another double link pendulum systems. In this study, the design of the swing up and balance controller for a double link vertical arm drive inverted pendulum is reported. Swing up controller is designed based on the positive feedback control theorem, while the balance controller is designed by LQR control methods. Finally, the controlled results are presented.
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Yang, Chin-Wei, and 楊志偉. "Visual Servo Based Balance Control of an Inverted Pendulum System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/62772346977426801626.
Full textAbstract:
碩士國立成功大學
工程科學系碩博士班
93
Hand-eye coordination is a dexterity ability of the advanced creatures. To imitate the action of the human in humanoid robotics systems, the development of the hand-eye coordination ability is an important task. The visual servo techniques are always exploited for achieving this goal. The objective of this thesis is to control an inverted pendulum system with a CMOS (Complementary Metal-Oxide Semiconductor) image sensor that imitates a hand-eye coordination control system. The system consists of a inverted pendulum mechanism, a motor actuator, an image processing module, an SRAM, an image sensor, and a balance controller. In this system, the image processing module is implemented by an FPGA device (EP1C12Q240C8, Altera). The CMOS image sensor from National Semiconductor is used for sensing the displacement of the pendulum and the balance controller is implemented by a digital signal processor (TMS320F240, TI). The rotary inverted pendulum system is a fast, unstable and nonlinear system. It is composed by two rigid rods which lie in two different planes. The control objective is to balance the pendulum through the motor. To do so the digital image data of the image sensor is loaded into an SRAM. After that, the image processing algorithm is carried out by an FPGA device. Finally, the position of the pendulum obtained by the FPGA will be sent to a DSP-based LQR balance controller. This controller achieves balance control of the pendulum according to the angular displacement of the pendulum. The system is developed and proven to work well through simulation and experiment.
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Chang, Long-Hong, and 張榮鴻. "Design of nonlinear controller for bi-axial inverted pendulum system." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/87016415956873924458.
Full textAbstract:
博士國立交通大學
機械工程系所
97
This study presents the use of static Tustin friction model and a disturbance observer to compensate for frictional force between cart-rail and external disturbance so as to reduce the steady-state error (SSE) of a bi-axial inverted pendulum cart system (IPCS). Furthermore, a three-phase controller switching varied according to the angle of the pendulum is employed to swing-up and stabilize the IPCS. The three-phase controller contains: (1) a swing-up control to swing-up the pendulum angle from rest ( ) into ; (2) a sliding-mode with feedback linearization control for pendulum angle in the region of to double enlarge the maximum angle of operation, while the control of the position of the cart is temporarily ignored; (3) A sliding-mode control (SMC) and a control are employed in the region of to stabilize the IPCS, respectively. Experimental results reveal that the SSE of the IPCS is improved more than 6 times for SMC and 4 times for control. Finally, two methods, qualitative (experimental films) and quantitative (experimental data), are used to present, conclude and compare the control performances of SMC and control. The results also show the effectiveness and robustness of the proposed control schema.
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Yang, Ching-Yang, and 楊景揚. "Design and Implement of Self-Balancing Wheeled Inverted Pendulum System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/04801960980374698784.
Full textAbstract:
碩士淡江大學
電機工程學系碩士班
101
This paper presents an intelligent controller for a self-balancing wheeled inverted pendulum system. In hardware design part, the control system is designed in an Arduino DUE microcontroller, and with a self-made I/O control card. Furthermore, this paper uses gyroscope to detect the tilt angle of the wheeled inverted pendulum system. In controller design part, this paper designs a self-balancing and moving control system, which includes a balancing controller and a yaw steering controller. Balancing controller designs based on decoupled fuzzy sliding mode control (DFSMC) approach, because the motion and balance control problem of wheeled inverted pendulum involves two aspects, posture balance control and trajectory control. Yaw steering controller via fuzzy sliding mode control method controls two speed difference compensation and direction control of the wheeled inverted pendulum system. Finally, experimental results show that the proposed control system implements a wheeled inverted pendulum system with self-balancing, moving and yaw steering functions.
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T, Rakesh Krishnan. "On Stabilization of Cart-Inverted Pendulum System: An Experimental Study." Thesis, 2012. http://ethesis.nitrkl.ac.in/4460/1/610EE102_Thesis.pdf.
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The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. Its dynamics resembles with that of many real world systems of interest like missile launchers, pendubots, human walking and segways and many more. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and underactuated. Further, the physical constraints on the track position control voltage etc. also pose complexity in its control design. The thesis begins with the description of the CIPS together with hardware setup used for research, its dynamics in state space and transfer function models. In the past, a lot of research work has been directed to develop control strategies for CIPS. But, very little work has been done to validate the developed design through experiments. Also robustness margins of the developed methods have not been analysed. Thus, there lies an ample opportunity to develop controllers and study the cart-inverted pendulum controlled system in real-time. The objective of this present work is to stabilize the unstable CIPS within the different physical constraints such as in track length and control voltage. Also, simultaneously ensure good robustness. A systematic iterative method for the state feedback design by choosing weighting matrices key to the Linear Quadratic Regulator (LQR) design is presented. But, this yields oscillations in cart position. The Two-Loop-PID controller yields good robustness, and superior cart responses. A sub-optimal LQR based state feedback subjected to H∞ constraints through Linear Matrix Inequalities (LMIs) is solved and it is observed from the obtained results that a good stabilization result is achieved. Non-linear cart friction is identified using an exponential cart friction and is modeled as a plant matrix uncertainty. It has been observed that modeling the cart friction as above has led to improved cart response. Subsequently an integral sliding mode controller has been designed for the CIPS. From the obtained simulation and experiments it is seen that the ISM yields good robustness towards the output channel gain perturbations. The efficacies of the developed techniques are tested both in simulation and experimentation. It has been also observed that the Two-Loop PID Controller yields overall satisfactory response in terms of superior cart position and robustness. In the event of sensor fault the ISM yields best performance out of all the techniques.
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Fan, Ming-Feng, and 范銘峰. "Study of Nonlinear Control Design for A Rotary Inverted Pendulum System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/66563546779524360752.
Full textAbstract:
碩士大華科技大學
電機與電子工程系
103
This thesis proposes an effective nonlinear control method for a rotary inverted pendulum system in order to improve the accuracy of using the time-invariant LQR optimal linear control, which is obtained by using angle approximations in the obtained nonlinear system model. Thus, the main objective of this thesis is to explore the application of nonlinear system theories to a ROTPEN experimental machine (ROTPENEM), trying to develop a more accurate control law than that of the linear control. First, we derive the system model of the ROTPENEM, and try to explore the control effects and potential problems of applying the time-invariant LQR design. Then, we try to employ the SDRE (State-Dependent Riccati Equation) control and the Input-state feedback linearization control to improve the control performance of the aforementioned linear control. Furthermore, based on the concept of the SDRE, this thesis also proposes a compact design method of the conventional feedback linearization control in order to reduce its computational complexity. In the sequel, compact time-varying and time-invariant feedback linearization controller designs are proposed. To verify the effectiveness of the proposed results, this thesis uses MATLAB to conduct the simulation and verification. Finally, through LabVIEW programming and experiment setup, this thesis fulfills the goal of real and satisfactory control of the ROTPENEM.
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Chang, J. H., and 張智豪. "Fuzzy Sliding Mode Controller Design of the Double Inverted Pendulum System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/57491652745946824372.
Full textAbstract:
碩士國立宜蘭大學
電機工程學系碩士班
97
In this research, we propose adaptive fuzzy switched swing-up and sliding controller (AFSSSC), adaptive fuzzy switched swing-up and dynamic controller (AFSSDC) for the swing-up and position controls of a double pendulum and cart system. The proposed AFSSSC and AFSSDC consist of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), an adaptive hybrid-fuzzy-sliding controller (HFSC), and a dynamic-surface controller (DSC). To simplify the design of the adaptive hybrid-fuzzy-sliding controller, the double pendulum and cart system is reformulated as a double pendulum subsystem and a cart subsystem with matched time-varying uncertainties. Also, an adaptive mechanism is provided to learn the parameters of the output fuzzy sets for the adaptive hybrid-fuzzy-sliding controller (HFSC). The fuzzy switching controller (FSC) is designed to smoothly switch the adaptive fuzzy swing-up controller (FSUC), the adaptive hybrid-fuzzy-sliding controller (HFSC), and dynamic-surface controller (DSC). Moreover, the sliding mode and stability of the fuzzy sliding control systems are guaranteed. Also, the dynamic surface and stability of the dynamic surface control systems are guaranteed. Simulation results are included to illustrate the effectiveness of the AFSSSC and AFSSDC.
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Chang, Li-Chung, and 張立忠. "Stabilizing and Tracking Control of nonlinear Dual-Axis Inverted Pendulum System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/20363537038911974577.
Full textAbstract:
碩士元智大學
電機工程學系
90
The purpose of this thesis is to develop an adaptive sliding-mode control (ASMC) system and a robust fuzzy-neural-network control (RFNNC) system for real time stabilization and accurate tracking control of a dual-axis inverted-pendulum system with highly nonlinear and time-varying dynamic characteristics. The energy conservation principle, coordinate transformation technique and Newton's law of motion are adopted initially to build a mathematical model of a dual-axis inverted-pendulum mechanism that is driven by permanent magnet (PM) synchronous motors. In order to take away the internal dynamic for the convenient design of control system, the dynamic motion equation can be divided into angle and position dynamic models according to stick angel and cart position coordinates. In this study, the ASMC system is investigated to control the nonlinear dual-axis inverted-pendulum system, where a simple adaptive algorithm is utilized to estimate the bound of lumped uncertainty. Moreover, in order to relax the requirement of system parameters, the RFNNC system is implemented as an alternative way to control a nonlinear dual-axis inverted-pendulum system. In this control system, the FNN controller is used to learn an equivalent control law in the traditional sliding-mode control, and a robust controller is designed to compensate the residual approximation error. The overall control laws of both ASMC and RFNNC systems are derived in sense of Lyapunov stability analysis, so that system stabilization and accurate tracking control can be guaranteed in the closed-loop system even when the uncertainties occur. In addition, the effectiveness of the proposed control strategies can be verified by numerical simulation results.
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林志鴻. "On Variable Structure Control in a Rodless Pneumatic Inverted Pendulum System." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/38175799415207956279.
Full textAbstract:
碩士國立中興大學
電機工程學系
91
This thesis presents a variable structure control approach to an inverted pendulum system on a rodless pneumatic servo system.The mathematical model consists of a second-order, nonlinear, open-loop unstable inverted pendulum and a linear servo-valve with coulomb friction. The pendulum model is developed by newton’s 2nd law, and the pneumatic model identified by open-loop test. Three types of sliding surfaces are designed with identical input switching control to cope with coulumb friction. In order to decrease chatterings caused by the switching function, a sliding layer using saturation function is applied. From the simulation and expertiment results, the chattering of the controlled variable is improved.
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Yu, Cheng-Yuan, and 余政原. "The Application of Fuzzy Control Theory to Inverted Pendulum System Control." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/mx8p99.
Full textAbstract:
碩士國立虎尾科技大學
自動化工程系碩士班
104
This thesisresearches about using fuzzy control theory for inverted pendulum balance control.Advantages of fuzzy control theory isthat it can collect the experience of experts, pendulum doesanreal-time control to the inverted vertical state, whereby can prove the feasibility of the fuzzy control system. In addition, the particle swarm algorithm is employed to determine to optimal solution for fuzzy controller parameters and the solution found applied for position control of the DC motor. The integral absolute error (IAE) is used as a performance indicator, with particle swarm algorithm searches function parameters of fuzzy controller home to obtain the minimum performance criteria.So you can try adjusting the parameters that’s needed to improve time-consuming, hence the motor control can achieve the best performance.
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Deepthi, Marrapu. "Regional Pole Placement Design Based Stabilization for Cart Inverted Pendulum System." Thesis, 2015. http://ethesis.nitrkl.ac.in/6951/1/Regional_Deepthi_2015.pdf.
Full textAbstract:
The inverted pendulum has been considered as a benchmark control problem due to its nonlinearity and stabilization around the unstable equilibrium point. To achieve stabilization, it is well known that all the closed loop system poles should lie in left half of s-plane. In present work, different approaches have taken to shift the system poles to left half of the plane. At first Linear Quadratic Regulator (LQR) is used, where the desired pole locations can be achieved by suitably selecting weight matrix of cost function. With this guaranteed cost control scheme, one does not have to bother about specifying closed-loop poles. Next, a two loop PID is designed based on pole matching conditions. Where the closed loop with unknown controller coefficient characteristic equation is compared with desired characteristics, to find out the controller gains. In both the methods, one has to deal with point wise pole placing, which can be tricky sometimes. With the recent development of LMIs tool, regional pole placement is well suited to achieve the goal. At last, a regional pole placement controller is synthesized, where desired specifications are transformed into LMI regions. In present case, a conical sector of left half plane is taken so that stabilisation with better transient performance can be achieved
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Cheng, Chi-Chun, and 鄭啟駿. "Control System Design for the PenduLIM: a Novel Integrated Architecture of Inverted Pendulum and Linear Induction Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/43289932758170663486.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
91
We propose an integrated control architecture for the "PenduLIM" which consists of an inverted pendulum (IP) mounted on a linear induction motor (LIM). According to this innovative architecture, the IP is swung up and stabilized to its upright unstable equilibria as well as the displacement is regulated to zero, by exerting horizontal thrust from the LIM. In order to cope with this highly nonlinear and unstable system, the IP is controlled via a passivity-based energy controller coincides with a model-reference adaptive controller while the LIM is controlled via a thrust controller with secondary resistance adaptation. Then, by feeding the IP control law as command of LIM servo control subsystem, the overall closed-loop system is globally asymptotically stable (A.S.) in the sense of arbitrary initial displacement and angle. Finally, the success of proposed control scheme is demonstrated by numerical simulations.
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TUNG, LUN TENG. "The Design of Tracing Control System for Inverted Pendulum with Adjustable Clapper." 2006. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0021-2304200715053307.
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Ho, Chi-Zen, and 何智仁. "Design of Nonlinear H∞ Output-feedback Controller for an Inverted Pendulum System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/29149438187297490744.
Full textAbstract:
碩士國立海洋大學
機械與輪機工程學系
90
Inverted pendulum is a classical nonlinear system with non-full information. To construct a nonlinear H∞ controller for th system, it is essential to design a H∞ state estimator and then conbine the estimator with the nonlinear H∞ state-feedback controller. This kind of combination called nonlinear H∞ output-feedback controller. To constract a nonlinear H∞ output-feedback controller, it is essential to find solutions for the Hamiltion-Jacobi equatioins(HJEs). A successive algorithm is employed to find approximate solutions to the HJEs. In this paper, we will try to design a nonlinear H∞ output-feedback controller for the inverted pendulum by approximately solving the HJEs. Simulations of the closed-loop systems for approximation nonlinear H∞、H2 output-feedback controller and linear H∞ output-feedback controller will be performed and compared. It is found that the nonlinear H∞output-feedback controller has better performance in term of smaller deviations from the equilibrium condition. In the end of the paper, we try to combine the nonlinear H∞ state-feedback controller for the inverted pendulum by exactly solving the Hamilton-Jacobi inequality(HJI) with linear H∞ state estimator. The exact nonlinear H∞ state-feedback controller has simper form and much more degree design freedom and the combination of exact nonlinear H∞ state-feedback controller and linear H∞ state estimator has simpler design process and good performance.
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Chen, Yi-Yan, and 陳毅安. "The Stabilizing Dynamic System of Single Inverted Pendulum by Applying Vertical Forces." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/74084774600909680067.
Full textAbstract:
碩士大同大學
機械工程研究所
91
Abstract This thesis discusses the situation of the motion of a inverted pendulum system exerted a force on the vertical direction. We hope that exerts a suitable vertical force to make the inverted pendulum system asymptotically stable. First, we use the force and moment equilibrium equation of Newton mechanics to get the equations of motion of the system, and use energy method of Lagrange Equation to prove. If the results are the same, we can say that the equations of motion are correct. We simplify the original two second order differential equations to four first order differential state equations and analyze the system with Runge-kutta method, and use Matlab as our program to realize it. So we can get four figures which are states versus time (“displacement-time”, “speed-time”, “angle-time”, “velocity of angle-time”) and understand the features of the system more. And then, we will test several forces which are combined with some common trigonometric function and find a suitable period and its range of the amplitude. All of these cases, only cosine wave achieves our goal that makes the angle of the pendulum θ(t) oscillate between θ(0) and -θ(0) and makes the displacement of the system oscillate in a stable range. But many defects need to be improved. Finally, we design a we design a square wave that is similar to the cosine wave to test the system. For the square wave, if we adjust a suitable period and amplitude, the inverted pendulum will be stable and all the system cannot divergence. And then, we find all range of amplitude for all available periods, and discover that there are 24 periods correspond with their range of amplitude respectively. Combine with these data to a force-control-band. As long as the initial angle between -90 and 90(degree), we can select any point in this band to make the inverted pendulum maintain original angle to oscillate. More important, if we select the suitable percentage force-control-line, not only make the inverted pendulum asymptotically stable but also make all the system convergence. For all initial angles between -90 and 90(degree), we find all suitable percentage force-control-lines in the band, and record all data to be consulted and used by user. Above all, original equations can not be restricted with the traditional linearization that must operate in a small range of angle. It is that we can control the system at the bigger angle without changing the system.