• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.835-841
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• 2014

In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.192-197
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• 2011

In this paper, the output feedback control of inverted pendulum systems is experimented for the practicality verification of the linear state observer. For the experiment, a pendulum system, CEM-IP-01 of Cemware Inc. is used and Lagrange equation and Jacobian linearization are adopted for the dynamic analysis of the pendulum system. In addition, the output responses of the state feedback control and the output feedback control of the pendulum system are compared before the experiment by Matlab. Finally, we directly verify the practical use of the linear state observer by recognizing and solving some real problem to control the inverted pendulum system in practice.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.901-904
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• 1998

In this paper, we describes PID-neural network controller for the rotary inverted pendulum. PID control is applied to many fields but has some problems in nonlinear system due to a variation of parameter. So, we should desing the controller which is adjusted PI parameters by the neural network which is learned by backpropagation algorithm. And we show that on-line control is possible through the PID-neural network controller. The angle of the pendulum is controlled and then the position of the rotating arm is also controlled to maintain with in the set point. Measurement of the pendulum angle is obtained using a potentionmeter. The objective of the experiment is to design a PID-neural network control system that positions the arm as well as maintains the ivnerted pendulum vertical. Finally, we describe the actual experiment system and confirm the experimental results.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.2
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• pp.109-114
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• 2002

Various inverted pendulum systems have been frequently used as a model for the performance test of the proposed control system. We first identify a rotary-type inverted pendulum system by the Euler-Lagrange method and then design a FLC (Fuzzy Logic Controller) fur the plant. FLC`s are one of useful control schemes fur plants having difficulties in deriving mathematical models or having performance limitations with conventional linear control schemes. Many FLC`s imitate the concept of conventional PD (Proportional-Derivative) or PI (Proportional-Integral) controller. That is, the error e and the change-of-error are used as antecedent variables and the control input u the change of control input Au is used as its consequent variable for FLC`s. In this paper we design a simple-structured FLC for the rotary inverted pendulum system. We also perform some computer simulations to examine the tracking performance of the closed-loop system.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.7
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• pp.127-132
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• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.2
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• pp.125-130
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• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.440-445
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• 2010

This paper proposes a single accelerometer sensor control algorithm to mobile inverted pendulum, generally called 'Segway', and evaluates the performance of this system comparing to the conventional ones. The commercialized 'Prototype Segway-PT' is initially considered as a next-generation transport vehicle. However, this robot is operated by three gyroscopes and two accelerometers to control the posture and speed, and it requires the complex signal processing for fusing the two sets of data. As the result of this, the growth rate of market size of 'Segway' is slow because of its high price mainly. In this paper, the mobile inverted pendulum is operated by a single accelerometer to simplify the control system to lower the price. Low pass filter is one of the good sensors to reducing the variation of an accelerometer, but it has time delay. This time delay disturbs real-time mobile inverted pendulum control. Like this, other various algorithms are used for this system, but each one has its own weak point. So this paper proposes a new filtering method, median filter and EKF. Median filter is used to image processing to reject impulse elements like salt and pepper noise. As the major performance evaluation parameter for the accelerometer, the high-frequency to low frequency ratio from FFT (Fast Fourier Transform) is used. Effectiveness of the proposed algorithms has been verified through the real experiments and the results are demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1267-1271
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• 2003

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.79-81
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• 2004

LQ-Servo controller inherits the stability-robustness from rational LQR structure and also, satisfies performance-robustness that is lacking in LQR structure by importing partial output feedback. In this paper, LQ-Servo controller is suggested for strengthening the performance-robustness. For this, Several executings are effectively performed by implementing to the rotational inverted pendulum system.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.119-122
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• 2003

The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.