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1
Huamán, Loayza Alex Smith. "Energy-Based Control for the Cart-Pole System in Implicit Port-Hamiltonian Representation". Master's thesis, Pontificia Universidad Católica del Perú, 2019. http://hdl.handle.net/20.500.12404/16143.
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This master thesis is devoted to the design, analysis, and experimental validation of an
energy-based control strategy for the well-known benchmark cart-pole system in implicit
Port-Hamiltonian (PH) representation. The control scheme performs two tasks: swingup and (local) stabilization. The swing-up controller is carried out on the basis of a
generalized energy function and consists of bringing the pendulum trajectories from the
lower (stable) position to a limit cycle (homoclinic orbit), which passes by the upright
(unstable) position, as well as the cart trajectories to the desired point. The (local)
stabilizing controller is designed under a novel algebraic Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique and ensures the upright
(asymptotic) stabilization of the pendulum as well as the cart at a desired position. To
illustrate the effectiveness of the proposed control scheme, this work presents simulations and real-time experiments considering physical damping, i.e., viscous friction. The
results are additionally contrasted with another energy-based control strategy for the
cart-pole system in explicit Euler-Lagrange (EL) representation.Diese Masterarbeit widmet sich dem Entwurf, der Analyse und der experimentellen Validierung einer energiebasierten Regelstrategie für das bekannte Benchmarksystem des inversen Pendels auf einem Wagen in impliziter Port-Hamiltonscher (PH) Darstellung. Das Regelungssystem erfüllt zwei Aufgaben: das Aufschwingen und (lokale) Stabilisierung. Das Aufschwingen erfolgt auf Grundlage der generalisierten Energiefunktion und besteht darin, sowohl die Trajektorien des Pendels von der unteren (stabilen) Position in einen Grenzzyklus (homokliner Orbit) zu bringen, wobei die (instabile) aufrechte Lage passiert wird, als auch den Wagen in einer gewünschten Position einzustellen. Die (lokale) Regelung zur Stabilisierung ist nach einer neuartigen algebraischen Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) Methode konzipiert und gewährleistet die aufrechte (asymptotische) Stabilisierung des Pendels sowie die Positionierung des Wagens an einem gewünschten Referenzpunkt. Um die Funktionalität des entworfenen Regelungssystems zu veranschaulichen, werden in dieser Masterarbeit Simulationen und Echtzeit-Experimente unter Berücksichtigung der physikalischen Dämpfung, d.h. der viskosen Reibung, vorgestellt. Die Ergebnisse werden zusätzlich mit einem weiteren energiebasierten Regelungsansatz für das System des inversen Pendels auf einem Wagen in expliziter Euler-Lagrange (EL) Darstellung verglichen.
Tesis
2
Dadios, Elmer P. "Non-conventional control of the flexible pole-cart balancing problem". Thesis, Loughborough University, 1996. https://dspace.lboro.ac.uk/2134/10413.
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Emerging techniques of intelligent or learning control seem attractive for applications in manufacturing and robotics. It is however important to understand the capabilities of such control systems. In the past the inverted pendulum has been used as a test case. The thesis begins with an examination of whether the inverted pendulum or polecart balancing problem is a representative problem for experimentation for learning controllers for complex nonlinear systems. Results of previous research concerning the inverted pendulum problem are presented to show that this problem is not sufficiently testing. This thesis therefore concentrates on the control of the inverted pendulum with an additional degree of freedom as a testing demonstrator problem for learning control system experimentation. A flexible pole is used in place of a rigid one. The transverse displacement of the flexible pole adds a degree of freedom to the system. The dynamics of this new system are more complex as the system needs additional parameters to be defIned due to the pole's elastic deflection. This problem also has many of the signifIcant features associated with flexible robots with lightweight links as applied in manufacturing. Novel neural network and fuzzy control systems are presented that control such a system both in simulation and real time. A fuzzy-genetic approach is also demonstrated that allows the creation of fuzzy control systems without the use of extensive knowledge.
3
Usher, Kane. "Visual homing for a car-like vehicle". Thesis, Queensland University of Technology, 2005. https://eprints.qut.edu.au/16309/1/Kane_Usher_Thesis.pdf.
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This thesis addresses the pose stabilization of a car-like vehicle using omnidirectional visual feedback. The presented method allows a vehicle to servo to a pre-learnt target pose based on feature bearing angle and range discrepancies between the vehicle's current view of the environment and that seen at the learnt location. The best example of such a task is the use of visual feedback for autonomous parallel-parking of an automobile.
Much of the existing work in pose stabilization is highly theoretical in nature with few examples of implementations on 'real' vehicles, let alone vehicles representative of those found in industry. The work in this thesis develops a suitable test platform and implements vision-based pose stabilization techniques. Many of the existing techniques were found to fail due to vehicle steering and velocity loop dynamics, and more significantly, with steering input saturation. A technique which does cope with the characteristics of 'real' vehicles is to divide the task into predefined stages, essentially dividing the state space into sub-manifolds. For a car-like vehicle, the strategy used is to stabilize the vehicle to the line which has the correct orientation and contains the target location. Once on the line, the vehicle then servos to the desired pose. This strategy can accommodate velocity and steering loop dynamics, and input saturation. It can also allow the use of linear control techniques for system analysis and tuning of control gains.
To perform pose stabilization, good estimates of vehicle pose are required. A simple, yet robust, method derived from the visual homing literature is to sum the range vectors to all the landmarks in the workspace and divide by the total number of landmarks--the Improved Average Landmark Vector. By subtracting the IALV at the target location from the currently calculated IALV, an estimate of vehicle pose is obtained. In this work, views of the world are provided by an omnidirectional camera, while a magnetic compass provides a reference direction. The landmarks used are red road cones which are segmented from the omnidirectional colour images using a pre-learnt, two-dimensional lookup table of their colour profile. Range to each landmark is estimated using a model of the optics of the system, based on a flat-Earth assumption. A linked-list based method is used to filter the landmarks over time. Complementary filtering techniques, which combine the vision data with vehicle odometry, are used to improve the quality of the measurements.
4
Usher, Kane. "Visual homing for a car-like vehicle". Queensland University of Technology, 2005. http://eprints.qut.edu.au/16309/.
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This thesis addresses the pose stabilization of a car-like vehicle using omnidirectional visual feedback. The presented method allows a vehicle to servo to a pre-learnt target pose based on feature bearing angle and range discrepancies between the vehicle's current view of the environment and that seen at the learnt location. The best example of such a task is the use of visual feedback for autonomous parallel-parking of an automobile. Much of the existing work in pose stabilization is highly theoretical in nature with few examples of implementations on 'real' vehicles, let alone vehicles representative of those found in industry. The work in this thesis develops a suitable test platform and implements vision-based pose stabilization techniques. Many of the existing techniques were found to fail due to vehicle steering and velocity loop dynamics, and more significantly, with steering input saturation. A technique which does cope with the characteristics of 'real' vehicles is to divide the task into predefined stages, essentially dividing the state space into sub-manifolds. For a car-like vehicle, the strategy used is to stabilize the vehicle to the line which has the correct orientation and contains the target location. Once on the line, the vehicle then servos to the desired pose. This strategy can accommodate velocity and steering loop dynamics, and input saturation. It can also allow the use of linear control techniques for system analysis and tuning of control gains. To perform pose stabilization, good estimates of vehicle pose are required. A simple, yet robust, method derived from the visual homing literature is to sum the range vectors to all the landmarks in the workspace and divide by the total number of landmarks--the Improved Average Landmark Vector. By subtracting the IALV at the target location from the currently calculated IALV, an estimate of vehicle pose is obtained. In this work, views of the world are provided by an omnidirectional camera, while a magnetic compass provides a reference direction. The landmarks used are red road cones which are segmented from the omnidirectional colour images using a pre-learnt, two-dimensional lookup table of their colour profile. Range to each landmark is estimated using a model of the optics of the system, based on a flat-Earth assumption. A linked-list based method is used to filter the landmarks over time. Complementary filtering techniques, which combine the vision data with vehicle odometry, are used to improve the quality of the measurements.
5
Algers, Björn. "Stereo Camera Calibration Accuracy in Real-time Car Angles Estimation for Vision Driver Assistance and Autonomous Driving". Thesis, Umeå universitet, Institutionen för fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149443.
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The automotive safety company Veoneer are producers of high end driver visual assistance systems, but the knowledge about the absolute accuracy of their dynamic calibration algorithms that estimate the vehicle’s orientation is limited. In this thesis, a novel measurement system is proposed to be used in gathering reference data of a vehicle’s orientation as it is in motion, more specifically the pitch and roll angle of the vehicle. Focus has been to estimate how the uncertainty of the measurement system is affected by errors introduced during its construction, and to evaluate its potential in being a viable tool in gathering reference data for algorithm performance evaluation. The system consisted of three laser distance sensors mounted on the body of the vehicle, and a range of data acquisition sequences with different perturbations were performed by driving along a stretch of road in Linköping with weights loaded in the vehicle. The reference data were compared to camera system data where the bias of the calculated angles were estimated, along with the dynamic behaviour of the camera system algorithms. The experimental results showed that the accuracy of the system exceeded 0.1 degrees for both pitch and roll, but no conclusions about the bias of the algorithms could be drawn as there were systematic errors present in the measurements.Bilsäkerhetsföretaget Veoneer är utvecklare av avancerade kamerasystem inom förarassistans, men kunskapen om den absoluta noggrannheten i deras dynamiska kalibreringsalgoritmer som skattar fordonets orientering är begränsad. I denna avhandling utvecklas och testas ett nytt mätsystem för att samla in referensdata av ett fordons orientering när det är i rörelse, mer specifikt dess pitchvinkel och rollvinkel. Fokus har legat på att skatta hur osäkerheten i mätsystemet påverkas av fel som introducerats vid dess konstruktion, samt att utreda dess potential när det kommer till att vara ett gångbart alternativ för att samla in referensdata för evaluering av prestandan hos algoritmerna. Systemet bestod av tre laseravståndssensorer monterade på fordonets kaross. En rad mätförsök utfördes med olika störningar introducerade genom att köra längs en vägsträcka i Linköping med vikter lastade i fordonet. Det insamlade referensdatat jämfördes med data från kamerasystemet där bias hos de framräknade vinklarna skattades, samt att de dynamiska egenskaperna kamerasystemets algoritmer utvärderades. Resultaten från mätförsöken visade på att noggrannheten i mätsystemet översteg 0.1 grader för både pitchvinklarna och rollvinklarna, men några slutsatser kring eventuell bias hos algoritmerna kunde ej dras då systematiska fel uppstått i mätresultaten.
6
Kučera, Cyril. "CFD simulace proudění vzduchu v kabině automobilu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378275.
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The diploma thesis deals with CFD simulating the air flow inside the car using the numerical calculation program Star-CCM+. The aim of the thesis was to prepare 3D geometry, resp. realistic model of the real car, preparing boundary conditions including material properties, simulating the steady state of the environment and evaluating the speed and temperature of the car cabin. The paper presents the results of the temperature distribution and air velocities in the cabin during the winter, spring and summer conditions in HVAC on and HVAC off modes. The monitored air temperatures and surface temperatures of the car parts are compared with the measured data. The average difference between simulation and measurement was at air temperatures of 2.3 °C and surface temperatures of 3.4 °C.
7
Thorslund, Sara. "Microfluidics in Surface Modified PDMS : Towards Miniaturized Diagnostic Tools". Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-7270.
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Schönström, Linus, Anna Nordh, Anton Strignert, Frida Lemel, Jakob Ekengard, Sofie Wallin i Zargham Jabri. "A process recipe for bonding a silicone membrane to a plastic substrate". Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-201008.
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A spin-cast silicone membrane has been successfully bonded between two injection-molded microstructured plastic discs. This sandwich structure creates a useful platform for mass production of microfluidic systems, provided that the bonds are leakproof. The bonds were achieved by a silicon dioxide coating deposited on the plastic discs by evaporation. This investigation is concerned with the process and the result only, no theory is discussed.
9
Pati, J. R. "Modeling, identification and control of cart-pole system". Thesis, 2014. http://ethesis.nitrkl.ac.in/6302/1/E-64.pdf.
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To understand any physical world system, a proper mathematical model is required. With the help of mathematical model, the system can be studied and controlled. There are different ways to develop a mathematical model such as first principle method and system identification method. First principle method is generally used when there is sufficient knowledge of the physical world system but system identification is used when there is no knowledge of the system. System identification is widely used to develop mathematical model of complex, non-linear systems. Cart-pole system is a benchmark problem in control system where the control objective is to balance the inverted pendulum mounted on the cart to a vertical position. This complete system is nonlinear in nature and the mathematical model can’t be efficiently calculated using first principle modeling. So system identification method is used to develop the mathematical model of the said system. This thesis finds out the linearized mathematical model of the said cart-pole system using parametric system identification procedure. Parametric system identification procedure consists of experiment design, model structure selection, parameter estimation and model validation. This thesis also designs linear and non-linear controller for the said system. For linearized model of cart-pole system some of the linear controllers designed are LQR, LQR-Pole-placement-PID, Fuzzy-PID, LQG and H-infinity. For the nonlinear model of cart-pole system, the control techniques discussed are the partial feedback linearization and classical feedback linearization control.
10
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.
11
ALI, FAIZ MOHAMMAD. "CART POLE SYSTEM ANALYSIS AND CONTROL USING MACHINE LEARNING ALGORITHMS". Thesis, 2022. http://dspace.dtu.ac.in:8080/jspui/handle/repository/19298.
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The cart and pole system balancing is a classical benchmark problem in control theory which
is also referred as inverted pendulum. It is a prototype laboratory model of an unstable
mechanical system. It is mainly used to model the control problems of rockets and missiles in
the initial stages of their launch.
This system represents an unstable system because an external force is required to keep the
pendulum in vertically upright position when cart moves on horizontal track.
Designing optimal controllers for the Cart and pole system is a challenging and complex
problem as it is an inherently nonlinear system. The principal advantage of reinforcement
learning (RL) is its ability to learn from the interaction with the environment and provide an
optimal control strategy. In this project, RL is explored in the context of control of the
benchmark cart-pole dynamical system. RL algorithms such as Q-Learning, SARSA, and
value-function approximation applied to Q-Learning are implemented in this context. By
using a fixed Force value of +10N or -10N, decided by a policy that maximizes the
approximate value function, the agent achieves optimal control of the system.
12
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.
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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
13
Chang, Li Han, i 李漢昌. "Action-Dependent Heuristic Dynamic Programming-Based Self-Learning Balance Control System-The Example of Cart-Pole and Beam-Ball Balance Problems". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/81319277012680380620.
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碩士佛光大學
資訊學系
97
Machine learning is one important part in the field of artificial intelligence. And the realization of Machine learning gradually becomes possible with the advance of technology. Aiming at machine self-learning, this thesis used to approximate Reinforcement learning to design the Self-learning balance control system. This study took ADHDP (Action-Dependent Heuristic Dynamic Programming) of Adaptive critic designs as the structure of Self-learning balance control system, and carried out an experiment in the self-learning cart-pole balance problem and bean-ball balance problem. The cart-pole balance and the bean-ball balance are the typical problems as far as the control theory is concerned. Because the structure of balance system is not complicated, they’re broadly applied to various control theory experiments and academic researches. In this research, the process of the system’s self-learning balance is represented by computer simulation. The system’s simulation interface is written with MATLAB. The study result indicates that the ADHDP-based self-learning balance control system is able to learn quickly, in the condition of any primary system, the cart-pole balance system and the beam-ball balance system.
14
Hong, Jie-Ren, i 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.
15
Cheng, Chien-Chou, i 鄭建洲. "Design and Implementation of Parallel Fuzzy Sliding-Mode Controllers for Spring-Linked Cart-Pole Systems". Thesis, 1998. http://ndltd.ncl.edu.tw/handle/47907929910976674605.
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ŽABKOVÁ, Lenka. "Systém řízení obchodních zástupců". Master's thesis, 2018. http://www.nusl.cz/ntk/nusl-375694.
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The theme of this thesis is to design a managing system of a particular group of financial advisors through managing a development of competences. In this work, you will learn about financial advisory field, the broker group and the specific business team, for which the proposal was created. To be successful as a financial advisor, an associate needs to master variety of competences. The ability to manage the work results is especially connected with manager's skills to control the team members' capability of achieving the targeted results and therefore his ability of controlling their competence levels. The suggested competence model is created for needs of the particular business team and is based on objective methods. The model is further used as a management tool. This is allowed by adding a rule of use and an evaluation system. The design of the system implementation contains a recommendation for introduction into the firm and a financial evaluation of the implementation investments.
17
Rega, Insa Mareike. "Patienten- und Bürgerbeteiligung im Gesundheitswesen Deutschlands, Finnlands und Polens". Doctoral thesis, 2005. http://hdl.handle.net/11858/00-1735-0000-0006-B3CA-C.
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