• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.2
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• pp.1-7
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• 2011

An inverted pendulum mounted on a cart and actuated by a hydraulic servo cylinder was designed and built. Position information of the cart was acquired via a potentiometer and a angle of the pendulum was sensed by an incremental encoder. These were collected by a DAQ board and processed through the Real-Time Windows Target software(included in simulink). A simulink graphical program was implemented as a controller of the hydraulic system that governed the motion of the cart in order to maintain vertical balance of the inverted pendulum. The purpose of this study is to develop an electro-hydraulic inverted pendulum system for a modeling and controling the intrinsic unstable system. The simulation results were compared with the experimental and verified.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.2
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• pp.168-175
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• 1999

Unlike a general inverted pendulum system which is moved on the cart the proposed inverted pendulum system in this paper has an inverted pendulum which is moved on the two-degree-of-freedom parallelogram link. The dynamic equation of the pendulum system activated by the DD(Direct Drive)motor includes many nonlinear terms and has the high degree of freedoms. The problem is followed hat the exact mathmatical equations can not be analized by a general linear theory However the neural network trained by a simple learning method can control the dynamic system with hard nonlinearities. Learning procedure is the backpropagation algorithm with super-visory signal. The plant inputs obtained by the designed neural network in this paper can stabilize the pendu-lem and get the servo control. Experiment results have proce the effectiveness of the designed neural network controller.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.5
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• pp.837-844
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• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.2
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• pp.137-147
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• 2003

The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.188-191
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• 1996

In this paper, we derive dynamic equation of double pole inverted pendulum using Lagrangian equation, and design the fuzzy sliding mode controller. We demonstrate that the designed controller regulates double pole simultaneously regardless of cart position by computer simulation.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.84-91
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• 2002

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.