Article
Multidisciplinary Sciences
Ishan Chawla, Ashish Singla
Summary: The inverted pendulum system is a classic example used to evaluate control algorithms due to its nonlinearity, instability, and underactuation. Various controllers have been proposed, with the linear quadratic regulator (LQR) known for optimality and sliding mode controller for robustness. A hybrid controller combining LQR and sliding mode controller is presented in this study to address the limitations of both, resulting in robust control of the rotary inverted pendulum. Simulation and experimental results validate the robustness of the proposed controller against uncertainties, with chattering in the control input mitigated with minimal loss in robustness.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2021)
Article
Chemistry, Multidisciplinary
Matteo Massaro, Stefano Lovato, David J. N. Limebeer
Summary: This paper discusses a classic control problem, the erection of the inverted pendulum, specifically the minimum-time erection on a moving cart. The study reveals that the minimum-time solution may involve a singular arc and proposes a corresponding feedback control law. Furthermore, a sensitivity analysis of the solution structure is conducted by varying the model parameters, and the time-optimal solution is compared with an energy-based control strategy.
APPLIED SCIENCES-BASEL
(2022)
Article
Automation & Control Systems
Jongchan Baek, Changhyeon Lee, Young Sam Lee, Soo Jeon, Soohee Han
Summary: This work utilizes reinforcement learning to achieve real-time control of a non-simulated triple inverted pendulum, using a structure-aware virtual experience replay method to enhance learning efficiency, and demonstrates its effectiveness on an actual system.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2024)
Article
Engineering, Multidisciplinary
Ishan Chawla, Vikram Chopra, Ashish Singla
Summary: Inverted pendulums have become a benchmark problem in dynamics and control theory due to their nonlinearity, instability, and underactuation. This paper presents a novel implementation of an integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum, which enhances robustness and eliminates non-robust reachability phase while addressing the problem of chattering in the controller.
INTERNATIONAL JOURNAL OF NONLINEAR SCIENCES AND NUMERICAL SIMULATION
(2021)
Article
Automation & Control Systems
L. B. Rapoport, A. A. Generalov
Summary: This study examines a mechanical system consisting of a wheel and a pendulum, investigating the simultaneous stabilization of the vertical position of the pendulum and a given position of the wheel. The application of output feedback linearization method addresses the stability issue, albeit leading to unstable zero dynamics in the closed-loop system.
AUTOMATION AND REMOTE CONTROL
(2022)
Article
Automation & Control Systems
Sifeddine Benahmed, Romain Postoyan, Mathieu Granzotto, Lucian Busoniu, Jamal Daafouz, Dragan Nesic
Summary: This paper presents stability conditions for deterministic time-varying nonlinear discrete-time systems, aiming to minimize an infinite-horizon time-dependent cost. It establishes global asymptotic and exponential stability properties for general attractors, and generalizes the related results on discounted optimal control problems to more general systems and cost functions.
Article
Computer Science, Information Systems
Arpit Jain, Abhinav Sharma, Vibhu Jately, Brian Azzopardi, Sushabhan Choudhury
Summary: This paper investigates the efficacy of an optimized fuzzy logic controller for real-time swing-up control and stabilization to a rigidly coupled twin-arm inverted pendulum system. The proposed fuzzy controller utilizes Lyapunov criteria for controller design to ensure system stability. The controller design is based on the black-box approach, eliminating the need for an accurate mathematical model of the system. The experimental results shows an improvement in the transient and steady-state response of the controlled system as compared to other state-of-the-art controllers.
Article
Mathematics, Applied
Andrea Tigrini, Federica Verdini, Sandro Fioretti, Alessandro Mengarelli
Summary: In this study, extended detrended fluctuation analysis (EDFA) was applied to investigate the dynamics of human balance maintenance using an inverted pendulum (IP) model with intermittent control. The analysis focused on the changes in long-term correlation and inhomogeneity of the center of pressure (COP) time series. The results showed that the EDFA coefficients were sensitive to changes in the derivative control gain and had a correlation with the p parameter.
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
(2022)
Article
Automation & Control Systems
Luis T. Aguilar, Jose A. Ortega, Alejandra Ferreira
Summary: This paper addresses the orbital stabilization problem of a class of underactuated systems and proposes a method using a two-relay controller to tune the amplitude and frequency, achieving periodic motion of an inverted cart-pendulum.
Article
Acoustics
Unggul Wasiwitono, Arif Wahjudi, Ari K. Saputra, Yohanes
Summary: In this study, a control strategy using a control moment gyroscope as an actuator is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point while maintaining the gimbal angle as small as possible. The effectiveness of the proposed state-feedback control strategy is evaluated through simulation for both linear and nonlinear cases. It is shown that the controller effectively stabilizes the inverted pendulum.
JOURNAL OF VIBRATION AND CONTROL
(2021)
Article
Engineering, Chemical
Zhuang-Zhuang Xin, Jia-Jun Wang
Summary: X-Z IP is a complex nonlinear system that is difficult to control using traditional linear control theories. The underactuated nature of the pendulum adds complexity to control design.
Article
Engineering, Mechanical
Ngo Phong Nguyen, Hyondong Oh, Yoonsoo Kim, Jun Moon
Summary: In this paper, a new class nonlinear hybrid controller (NHC) is proposed for swinging-up and stabilizing the rotary inverted pendulum system. The swing-up controller drives the pendulum towards the desired position, and the modified sliding mode controller is utilized for stabilization. Experimental results demonstrate the effectiveness of the NHC in swing-up and stabilization stages.
NONLINEAR DYNAMICS
(2021)
Article
Computer Science, Information Systems
Arnaldo de Carvalho, Joao Francisco Justo, Bruno Augusto Angelico, Alexandre Manicoba de Oliveira, Joao Inacio da Silva Filho
Summary: Artificial neural networks have been widely used in various fields over the past few decades, but they may face challenges when dealing with uncertain situations. The family of paraconsistent logics, as a powerful tool for handling uncertainty and contradictory information, has attracted attention from researchers in the field of artificial intelligence.
Article
Mathematics, Interdisciplinary Applications
S. Hadipour Lakmesari, M. J. Mahmoodabadi, M. Yousef Ibrahim
Summary: This paper presents an adaptive robust control algorithm based on fuzzy rules and gradient descent laws, which combines reliable feedback linearization approach with robust sliding mode controller to design a stable control effort for an under-actuated nonlinear inverted pendulum system. The analysis and results on the inverted pendulum system demonstrate the desired performance of the proposed control scheme by providing optimal smooth control input, suitable tracking performance, and proper time responses.
CHAOS SOLITONS & FRACTALS
(2021)
Article
Automation & Control Systems
Bidhayak Goswami, Anindya Chatterjee
Summary: This article focuses on linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. Specifically, it examines the stabilization of an inverted pendulum on a cart using a force on the cart. While this system can be easily stabilized with pendulum angle feedback, it cannot be stabilized with stable and proper compensators using cart position feedback alone. However, the article demonstrates that by adding an additional compensator in a parallel feedforward loop, stabilization with such compensators becomes possible. The article also discusses compensator parameter choices, robustness, fragility, and a comparison with another control approach.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2023)
Article
Mathematics, Applied
Sean McQuade, Benedetto Piccoli, Nastassia Pouradier Duteil
MATHEMATICAL MODELS & METHODS IN APPLIED SCIENCES
(2019)
Article
Transportation Science & Technology
Fangyu Wu, Raphael E. Stern, Shumo Cuic, Maria Laura D. Delle Monache, Rahul Bhadani, Matt Bunting, Miles Churchill, Nathaniel Hamilton, Rmani Haulcy, Benedetto Piccoli, Benjamin Seibold, Jonathan Sprinkle, Daniel B. Work
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
(2019)
Article
Environmental Studies
Raphael E. Stern, Yuche Chen, Miles Churchill, Fangyu Wu, Maria Laura Delle Monache, Benedetto Piccoli, Benjamin Seibold, Jonathan Sprinkle, Daniel B. Work
TRANSPORTATION RESEARCH PART D-TRANSPORT AND ENVIRONMENT
(2019)
Article
Biology
Bala S. C. Koritala, Craig Wager, Joshua C. Waters, Ryan Pachucki, Benedetto Piccoli, Yaping Feng, Laura B. Scheinfeldt, Sunil M. Shende, Sohyun Park, James I. Hozier, Parth Lalakia, Dibyendu Kumar, Kwangwon Lee
JOURNAL OF BIOLOGICAL RHYTHMS
(2020)
Article
Mathematics, Applied
Giulia Cavagnari, Antonio Marigonda, Benedetto Piccoli
JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS
(2020)
Article
Physics, Mathematical
Francesca Carlotta Chittaro, Paolo Mason
JOURNAL OF MATHEMATICAL PHYSICS
(2020)
Article
Biology
Zheming An, Nathaniel J. Merrill, Kwangwon Lee, Remi Robin, Amaury Hayat, Olivia Zapfe, Benedetto Piccoli
Summary: The circadian clock's free-running period is approximately 24 hours and can be synchronized to external stimuli through entrainment. The relationship between period and phase of entrainment doesn't explain all experimental data, leading to the development of a two-step entrainment model. This model offers a quantitative analysis and broader range of explanations for entrainment behaviors.
BULLETIN OF MATHEMATICAL BIOLOGY
(2021)
Article
Mechanics
Felisia Angela Chiarello, Benedetto Piccoli, Andrea Tosin
Summary: This study investigates the derivation of macroscopic traffic models from car-following vehicle dynamics using hydrodynamic limits of an Enskog-type kinetic description. The resulting macroscopic models depend on the relative frequency between Follow-the-Leader interactions and optimal velocity relaxation. Different types of macroscopic models are obtained depending on the dominance of either FTL interactions or OV relaxation rates.
INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS
(2021)
Article
Mathematics, Applied
Amaury Hayat, Benedetto Piccoli, Sydney Truong
Summary: In this article, the problem of stabilizing traffic flow on a ring road using autonomous vehicles (AV) is studied. A Bando-Follow-the-Leader model is used to represent traffic at a microscopic level, capable of reproducing phantom jams. It is found that a single AV can stabilize a large ring road with a large number of cars, with an exponentially quick stabilization rate. The control strategy proposed has two types of algorithms and only relies on local data, making it easy to implement.
SIAM JOURNAL ON APPLIED MATHEMATICS
(2023)
Proceedings Paper
Computer Science, Information Systems
Rahul Bhadani, Matthew Bunting, Matthew Nice, Fangyu Wu, Amaury Hayat, Jonathan W. Lee, Alexandre Bayen, Benedetto Piccoli, Benjamin Seibold, Dan Work, Jonathan Sprinkle
Summary: This paper discusses the software design patterns and vehicle interfaces used to transition vehicle controllers from simulation environments to open-road field experiments. The approach integrates model-based design, code generation, agile software development, and software and hardware-in-the-loop testing, with a focus on safety and dynamics of mixed autonomy in traffic. The paper emphasizes the importance of research interfaces, which provide strongly typed data streams accessible to non-software experts. The hardware platform interfaces and software design process for a mixed autonomy traffic experiment, as well as testing strategies, are described.
2023 CYBER-PHYSICAL SYSTEMS AND INTERNET-OF-THINGS WEEK, CPS-IOT WEEK WORKSHOPS
(2023)
Article
Mathematics, Applied
Saleh Albeaik, Alexandre Bayen, Maria Teresa Chiri, Xiaoqian Gong, Amaury Hayat, Nicolas Kardous, Alexander Keimer, Sean T. McQuade, Benedetto Piccoli, Yiling You
Summary: This article analyzes the widely used intelligent driver model (IDM) and proposes modifications to address specific issues. The theoretical improvements allow for a more accurate numerical implementation and preservation of the model's features, avoiding instability and inconsistency.
SIAM JOURNAL ON APPLIED DYNAMICAL SYSTEMS
(2022)
Article
Mathematics, Interdisciplinary Applications
Felisia Angela Chiarello, Benedetto Piccoli, Andrea Tosin
Summary: This study derives generic high order macroscopic traffic models from a follow-the-leader particle description via a kinetic approach, showing the optimization of global traffic trends through a hierarchical control structure. Numerical simulations investigate the effect of this control hierarchy in specific case studies, illustrating the multiscale path from vehiclewise implementation of driver-assist control to its optimal hydrodynamic design.
MULTISCALE MODELING & SIMULATION
(2021)
Article
Automation & Control Systems
Weichao Liang, Nina H. Amini, Paolo Mason
Summary: This paper explores the asymptotic behavior of N-level quantum angular momentum systems interacting with electromagnetic fields undergoing quantum nondemolition measurements, and examines the conditions for achieving exponential stabilization through a feedback controller. The results demonstrate the robustness of the feedback stabilization strategy in cases of imprecise initialization of the estimated state and unknown physical parameters.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2021)
Article
Automation & Control Systems
Xiaoqian Gong, Benedetto Piccoli, Giuseppe Visconti
Summary: The model presents a hybrid system with a lane-changing mechanism composed of three components, utilizes two populations to simulate traffic flow, focuses on the control of traffic with autonomous vehicles, and proves the Gamma-convergence of optimal control problems from the microscopic scale to the mean-field.
IEEE CONTROL SYSTEMS LETTERS
(2021)
Proceedings Paper
Automation & Control Systems
Paolo Mason, Luca Greco
