Article
Acoustics
Pouriya Pourgholam, Hamid Moeenfard
Summary: This study proposes a comprehensive dynamic model and a supervisory fuzzy-pole placement control strategy to achieve stable control in inverted pendulum systems. The effectiveness of the method is validated through simulation experiments, and a novel fuzzy system is introduced to improve the quality of transient response.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Automation & Control Systems
Felix M. Escalante, Andres L. Jutinico, Marco H. Terra, Adriano A. G. Siqueira
Summary: The natural instability and nonlinear dynamics of an inverted pendulum make it an ideal tool for reproducing behaviors of similar systems. This paper addresses the main issues of pendulum stabilization, tracking, and swing-up control, and demonstrates how robust recursive control and filtering techniques can enhance system performance.
ASIAN JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
Zied Ben Hazem, Mohammad Javad Fotuhi, Zafer Bingul
Summary: In this study, a radial basis neuro-fuzzy linear quadratic regulator controller was developed to control the anti-swing of a double link rotary pendulum system, showing better performance than fuzzy linear quadratic regulator and linear quadratic regulator. The controller was trained using two radial basis neural networks architecture and the outputs were used as input variables for the fuzzy controller, resulting in improved control performance.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2022)
Article
Mathematics
Hojin Lee, Jeonghwan Gil, Sesun You, Yonghao Gui, Wonhee Kim
Summary: A robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system is proposed in this paper, using equivalent input disturbance (EID) rejection. The system's mathematical model is developed using a Lagrangian equation. The EID observer is designed to estimate EID and the linear-quadratic regulator method is used for robustness, with closed-loop stability proven using Lyapunov theory and input-to-state stability. The proposed method's performance is validated through experimental results.
Article
Chemistry, Analytical
Lotfi Messikh, El-Hadi Guechi, Saso Blazic
Summary: This paper proposes a pole-independent, single-input, multi-output explicit linear MPC controller to stabilize the fourth-order cart-inverted-pendulum system. Four tuning parameters are adjusted to achieve a priori prescribed system gain margin and fast pendulum response. Comparisons with other optimal control methods show that the proposed method has obvious advantages in average peak efficiency.
Article
Multidisciplinary Sciences
Belgacem Bekkar, Khale Ferkous
Summary: In this paper, an online fuzzy tuning linear quadratic regulator (FT-LQR) is proposed for the balancing and trajectory tracking of a rotary single inverted pendulum. The FT-LQR tunes the LQR weighting matrices online using a fuzzy controller, allowing for better performance and stability.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2023)
Article
Computer Science, Artificial Intelligence
Ajit Kumar Sharma, Bharat Bhushan
Summary: This study implements various fuzzy controllers with robust sliding mode control on a nonlinear system, focusing on a single link inverted pendulum. By combining fuzzy logic control and sliding mode controlling technique, the system aims to be chattering-free and adaptive to uncertainties. Different types of controller based on fuzzy sliding mode have been implemented and compared in this research.
JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
(2022)
Article
Automation & Control Systems
Matthias Hofer, Michael Muehlebach, Raffaello D'Andrea
Summary: This article introduces a novel 3D inverted pendulum that can balance on one of its corners using only a single reaction wheel. The system achieves controllability by carefully designing the mass moment of inertia to have significantly different values along the two principal tilt axes. The article includes a derived model used for various compensation techniques and a linear-quadratic regulator design that stabilizes the underactuated system. Experimental results validate the effectiveness of the system design and demonstrate an excellent balancing performance of the proposed feedback controller.
Article
Computer Science, Hardware & Architecture
N. Arulmozhi, T. Aruldoss Albert Victorie
Summary: This paper focuses on the Furuta Pendulum or Rotary Inverted Pendulum, an under-actuated, non-minimum unstable and non-linear process, considering uncertainties. It analyzes the performance of Linear Quadratic Regulator (LQR) with Kalman filter and H-infinity filter as filter configurations. The effectiveness of these two filters is measured and compared in terms of time and frequency domain performance, as well as worst case stability and performance. The H-infinity filter outperforms the standard Kalman filter in worst case scenarios and becomes more robust with lower beta restriction values. The switch between the two filters is determined by a user-specified coefficient, providing flexibility in nonlinear system design.
COMPUTER SYSTEMS SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Sanjay Joseph Chacko, Rajesh Joseph Abraham
Summary: This paper presents a deterministic approach for selecting the Q and R weighting matrices in LQR, allowing the designer to have control over performance parameters. The method is validated by applying it to the stabilization of a practical inverted pendulum system, resulting in good stability, settling time, and overshoot.
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL
(2023)
Article
Computer Science, Artificial Intelligence
Tugce Yaren, Selcuk Kizir
Summary: This paper introduces a modeling framework based on power and control for mechanical systems with nonlinear, unstable, and under-actuated characteristics. By using an analogy between mechanical and electrical systems, the framework allows for precise transfer of results from electrical circuit synthesis to the mechanical domain. Experimental results validate that this framework is a new and advantageous modeling method, serving as a convenient alternative to the Lagrangian framework.
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
(2021)
Article
Automation & Control Systems
Anila Barkat, Mirza Tariq Hamayun, Salman Ijaz, Saleem Akhtar, Ejaz Ahmad Ansari, Imran Ghous
Summary: A linear parameter-varying control strategy is used to study the immediate change tendencies of scheduled parameters in real time for an inverted pendulum system, with an adjusted and observing virtual instrument designed in LabVIEW to construct this mechanism. The effectiveness of the designed robust controller is checked by integrating it on a hardware system and comparing it with traditional controllers through real-time evaluation and simulation results.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2021)
Article
Automation & Control Systems
Muhammad Abdullah, Arslan Ahmed Amin, Sajid Iqbal, Khalid Mahmood-ul-Hasan
Summary: The paper proposes a Hybrid Control Scheme based on energy balance and fuzzy logic controllers for implementing swing up and stabilization control of Rotary Inverted Pendulum (RIP). By dynamically tuning fuzzy logic-based state feedback gains in real-time, robust control performance is achieved. The proposed control scheme outperforms the conventional Linear Quadratic Controller (LQR) in terms of achieving satisfactory transient, steady-state, and robust responses at a lower computational cost.
MEASUREMENT & CONTROL
(2021)
Proceedings Paper
Engineering, Industrial
Atikah Surriani, Oyas Wahyunggoro, Adha Imam Cahyadi
Summary: This paper successfully tackled the challenge of controlling dynamic behavior systems using policy gradient methods. The experiments demonstrated that PG with baseline had faster convergence, while REINFORCE PG achieved higher cumulative rewards.
IEACON 2021: 2021 IEEE INDUSTRIAL ELECTRONICS AND APPLICATIONS CONFERENCE (IEACON)
(2021)
Article
Engineering, Electrical & Electronic
Zied Ben Hazem, Mohammad Javad Fotuhi, Zafer Bingul
Summary: This paper presents a FLQR anti-swing controller for a Double Serial Link Rotary Pendulum system and compares it with the classical LQR controller. The performance of the FLQR controller is shown to be better in terms of time-domain control specifications and vibration suppression capability.
IETE JOURNAL OF RESEARCH
(2023)
Article
Computer Science, Artificial Intelligence
Seaar Al-Dabooni, Donald Wunsch
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2019)
Article
Computer Science, Artificial Intelligence
Seaar Al-Dabooni, Donald Wunsch
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2020)
Article
Computer Science, Artificial Intelligence
Seaar Al Dabooni, Donald C. Wunsch
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2020)
Article
Computer Science, Artificial Intelligence
Seaar Al-Dabooni, Donald C. Wunsch
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Seaar Al-Dabooni, Donald Wunsch
2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)
(2017)
Proceedings Paper
Computer Science, Artificial Intelligence
Seaar Al Dabooni, Donald Wunsch
2016 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN)
(2016)