Transportation control of cooperative double-wheel inverted pendulum robots adopting Udwadia-control approach
Sign Up to like & getrecommendations! Published in 2018 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-018-4046-z
Abstract: The design and control for cooperative inverted pendulum robots are addressed in this paper. A transportation system consisting of two double-wheel inverted pendulum robots is designed for carrying baggage along a predefined trajectory, the problem… read more here.
Keywords: transportation; double wheel; control cooperative; pendulum robots ... See more keywords
Design and control of spatial inverted pendulum with two degrees of freedom
Sign Up to like & getrecommendations! Published in 2020 at "Journal of The Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-020-02580-3
Abstract: The inverted pendulum systems have inherently unstable dynamics. In order to stabilize the inverted pendulum at upright position, an actuation mechanism should generate fast-reactive motions at the pivot point of the system. This paper addressed… read more here.
Keywords: design control; spatial inverted; pendulum; control spatial ... See more keywords
All Stabilizing State Feedback Controller for Inverted Pendulum Mechanism
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.06.089
Abstract: Abstract In the literature, finding all stabilizing controllers are widely studied. In this paper, a case study of inverted pendulum is considered to test the methods for finding stabilizing state feedback controller. First, good set… read more here.
Keywords: feedback controller; stabilizing state; state feedback; feedback ... See more keywords
Stable handspring maneuvers with passive flight phases: Results from an inverted pendulum-like template
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Non-linear Mechanics"
DOI: 10.1016/j.ijnonlinmec.2020.103606
Abstract: Abstract Inverted pendulum (IP) has been broadly used to model locomotor systems. In this paper, we demonstrate that an IP-like model could simulate stable periodic handspring maneuvers with passive flight phases. The model is a… read more here.
Keywords: maneuvers passive; handspring maneuvers; inverted pendulum; flight phases ... See more keywords
Static balancing of an inverted pendulum with prestressed torsion bars
Sign Up to like & getrecommendations! Published in 2017 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2016.10.005
Abstract: This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging… read more here.
Keywords: balancing inverted; inverted pendulum; pendulum; static balancing ... See more keywords
Lagrangian-Laplace Dynamic Mechanical Analysis and Modeling of Inverted Pendulum
Sign Up to like & getrecommendations! Published in 2019 at "Procedia Manufacturing"
DOI: 10.1016/j.promfg.2019.06.013
Abstract: Abstract As a result of increase in application of robotics in medicine, agriculture, Military, Industries Explorations and Entertainment, there has been an increase in inverted pendulum analysis as regards its motion, stability, and control. This… read more here.
Keywords: lagrangian laplace; laplace dynamic; dynamic mechanical; inverted pendulum ... See more keywords
Nonlinear Optimal Control for the Wheeled Inverted Pendulum System
Sign Up to like & getrecommendations! Published in 2019 at "Robotica"
DOI: 10.1017/s0263574719000456
Abstract: Summary The article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to… read more here.
Keywords: control; optimal control; wheeled inverted; inverted pendulum ... See more keywords
Multistage approach for trajectory optimization for a wheeled inverted pendulum passing under an obstacle
Sign Up to like & getrecommendations! Published in 2023 at "Robotica"
DOI: 10.1017/s0263574723000401
Abstract: A robotic system constructed as a wheeled inverted pendulum (WIP) serves as an impressive demonstrator, since this kind of system is inherently nonlinear, unstable, and nonminimum phase. These properties may pose several difficulties, when it… read more here.
Keywords: system; wheeled inverted; inverted pendulum; trajectory ... See more keywords
Traditional stilts as an alternating incomplete inverted pendulum controlled by hand and a physical pendulum pivoting at the hand
Sign Up to like & getrecommendations! Published in 2021 at "European Journal of Physics"
DOI: 10.1088/1361-6404/ac172f
Abstract: Traditional stilts have been known in many countries in Asia and Africa and are generally used as toys. The design is very simple, but their use is very difficult. Performers have to train intensively to… read more here.
Keywords: hand physical; traditional stilts; inverted pendulum; hand ... See more keywords
Finite-Time Control for a Class of Inverted Pendulum Systems
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2938862
Abstract: This work addresses the finite-time control problem for a class of nonlinear inverted pendulum systems. A series of homogeneous controllers, which are capable of guaranteeing the locally finite-time stability for the closed-loop systems, are first… read more here.
Keywords: finite time; time; pendulum systems; inverted pendulum ... See more keywords
An Automatic Self-Tuning Control System Design for an Inverted Pendulum
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2971788
Abstract: A control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self–tuning regulator for a real inverted pendulum have… read more here.
Keywords: automatic self; self tuning; control; control system ... See more keywords