...Hashem Ashrafiuon; Alan M. Whitman This paper presents an approximate analytical solution for the weakly nonlinear closed-loop dynamics of the sliding phase of a sliding mode controlled rotary inverted pendulum based on the multiple scale method. A locally stable nonlinear sliding mode control law...

... approximation approach. This is done by matching the measurements to the expected measurements provided by the filter with maximum likelihood. The methods are applied to an inverted pendulum to assess performance. 19 06 2009 15 06 2010 09 03 2011 09 03 2011 approximation theory...

...Raymond Manning; Jeffrey Clement; Dooroo Kim; William Singhose The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown...

...Sue Ann Campbell; Stephanie Crawford; Kirsten Morris We consider an experimental system consisting of a pendulum, which is free to rotate 360 deg , attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller...

..., dead-beat and optimal control laws with state- or output-feedback control are presented. An example of a multivariable control design for double inverted pendulum with periodic forcing is used to illustrate the proposed approach. 23 03 2007 05 01 2008 09 06 2008 control system...

...William Singhose; Dooroo Kim; Michael Kenison Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused...

... = l o − δ where δ is the controller output and l o is the operator hoisting command. 15 05 2005 26 07 2006 cranes motion control pendulums feedback delays nonlinear control systems Traditionally, a crane is modeled as a simple pendulum...

... to a pendulum system. The adaptive shaper’s parameters vary according to the pendulum’s angle. The illustrative examples indicate the deficiencies of the fixed case and demonstrate the efficacy of the designed controller. System’s shaped response (case study 2) The case where the desired angle...

... variations. Application to the model of a rotary inverted pendulum shows the effectiveness of the proposed scheme. 14 03 2005 13 02 2006 nonlinear control systems controllers pendulums nonlinear systems regulator theory structurally stable regulation The problem of forcing...

...Kaustubh Pathak; Sunil K. Agrawal In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within this framework, the system state is divided into slow and fast...

...Sooyong Jung, Principal Engineer; John T. Wen, Electrical, Computer, and Systems Eng. This paper presents the experimental implementation of a gradient-based nonlinear model predictive control (NMPC) algorithm to the swing-up control of a rotary inverted pendulum. The key attribute of the NMPC...

... Furuta pendulum at the upright position. A model of the one-link Furuta pendulum is shown in Fig. 1 . The horizontal rotational bar and the pendulum link are called a “link-0” and a “link-1,” respectively. Motor drives the link-0 and the link-1 rotates freely at a joint. L 0 , m 1...

... variables. The control strategy is illustrated through the examples of a parametrically excited simple pendulum undergoing symmetry-breaking bifurcation and a double inverted pendulum subjected to a periodic load in the case of a secondary Hopf bifurcation. In this case for some critical value, α c...

... in the first part of the motion exactly how to terminate the motion. All results are verified numerically. cranes pendulums oscillations robust control self-adjusting systems adaptive control The gantry crane “problem” for which a solution has been developed is specified as follows...

...Tom Bucklaew, Senior Systems Engineer; Ching-Shi Liu, Associate Professor In this brief the dynamic behavior of a parametrically forced manipulator, or pendulum, system with PD control is examined. For an excitation of sufficient amplitude or frequency a Hopf bifurcation to a steady-state limit...

...Yongcai Xu; Masami Iwase; Katsuhisa Furuta Swing-up of a rotating type pendulum from the pendant to the inverted state is known to be one of most difficult control problems, since the system is nonlinear, underactuated, and has uncontrollable states. This paper studies a time optimal swing-up...

... of a rotational inverted pendulum system is examined. The performance of the proposed approach is validated by both numerical and experimental results. [S0022-0434(00)01601-4] 02 November 1998 nonlinear dynamical systems control systems pendulums DC motors mechanical control equipment Block...