• Title/Summary/Keyword: Inverted pendulum

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A study on Fuzzy-PID Control of a Straight Line Type Inverted Pendulum (직선형 도립 진자의 퍼지-PID 제어에 관한 연구)

  • Kim, J.M.;Lee, S.G.
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.6
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    • pp.57-64
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    • 1994
  • This paper proposes a fuzzy tuning PID controller for straight line type inverted pendulum. The conventional PID controller which is used widely in industrial field has fatal drawback on determining control gains for practical system. The proposed controller tunes the gains automatically based on fuzzy urle derived from the experience of expert operator. The results of simulation and experiment show the efficiency of the proposed control method comparing with conventional PID control method in terms of rising time, overshoot, and overall errors.

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A study of improved inverted pendulum controller using sliding mode (슬라이딩 모드를 이용한 개선된 도립전자 시스템 제어기에 관한 연구)

  • 이규형;이태봉;박준열
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.249-252
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    • 1996
  • The inverted pendulum system is mechanical system which can handle the modern control theory and practical applications. In theoretical field, it is used as the experimental device identifying the effects of control method and in applicative field. There are difficulties in designing or linearizing the practical controller because it is so sensitive to the parameter variation and has the highly non-linear characteristic. In this paper, we suggested the systems which compensate the non-linearity throughout the internal control method and designed controller which is robust to the parameter variation using sliding mode.

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VSS control of inverted pendulum (도립진자의 가변 구조 제어)

  • 한문섭;이욱열
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.54-57
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    • 1988
  • In this thesis, after the inverted pendulum being made, its state equation was established with parameters obtained by the state space approach and its position stabilization control was performed with VSS. The switching function of VSS was obtained from pole placement method and as the result of VSS control was compared with that of optimal regulator control, its robustness was clarified in sliding mode. The position and stabilization control of the inverted pendulum Wstem were acomplished with VSS.

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Stabilization Control of Inverted Pendulum Systems Using a State Observer (상태관측기를 이용한 도립진자 시스템의 안정화 제어)

  • Lee, Yun-Hyung;Ahn, Jong-Kap;Kim, Min-Jeong;So, Myung-Ok;Jin, Gang-Gyoo
    • Proceedings of the Korean Society of Marine Engineers Conference
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    • 2005.11a
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    • pp.49-50
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    • 2005
  • This paper presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

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Hybrid control of rotary type inverted pendulum by using one-chip microcomputer (One-chip 마이크로 컴퓨터에 의한 회전형 도립 진자의 hybrid 제어)

  • 김환성;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.999-1003
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    • 1992
  • In the paper, a hybrid control approach for the swing-up control of a rotary type inverted pendulum is treated using one-chip microcomputer. The control approach is composed by a scheduling logic control for swing up control and the linear state feedback control to achieve the disired inverted-state of the pendulum. The experimental cystem has been implemented by a 16-bit one-chip microcomputer with 3096 opu as the digital controller incorporating the above mentioned control approach.

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Design of Rotary Inverted Pendulum applying an Embedded System and Implementation by PID (Embeded system을 적용한 Rotary Inverted Pendulum 설계 및 PID에 의한 구현)

  • 김영춘;김정훈;김영탁;김동한
    • Proceedings of the IEEK Conference
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    • 2002.06e
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    • pp.5-8
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    • 2002
  • In this paper, we applied a PC interface and an embedded system in order to design a non-linear system and implement the PID algorithm as our control one. We used the inverted pendulum, one of the most generally used non-linear system models, to control uncertain factors in the environment. This paper showed how to use this non-linear system model to control the factors completely as well as to understand the PID algorithm. Furthermore, this paper applied and understood the embedded system.

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A Fuzzy Sliding Mode Control for Rotational Inverted Pendulum

  • Bin, Zheng;Lee, Dae-Sik
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2006.11a
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    • pp.323-326
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    • 2006
  • Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.

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Design of Optimized Fuzzy PD Cascade Controller Based on Parallel Genetic Algorithms (병렬유전자 알고리즘 기반 최적 Fuzzy PD Cascade 제어기의 설계)

  • Jung, Seung-Hyun;Choi, Jeoung-Nae;Oh, Sung-Kwun;Kim, Hyun-Ki
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.3
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    • pp.329-336
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    • 2009
  • In this paper, we propose the design of an optimized fuzzy cascade controller for rotary inverted pendulum system by means of Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) which is a kind of parallel genetic algorithms. The rotary inverted pendulum system is the system for controlling the inclination of pendulum axis through the adjustment of rotating arm. The control objective of the system is to control the position of rotating arm and to make the pendulum maintain the unstable equilibrium point of vertical position. To control rotary inverted pendulum system, we designs the fuzzy cascade controller scheme consisted of two fuzzy controllers and optimizes the parameters of the designed controller by means of HFCGA. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy cascade controller leads to superb performance in comparison with the conventional LQR controller as well as HFCGA based PD cascade controller.

A Study on the Visual Servoing of Autonomous Mobile Inverted Pendulum (자율주행 모바일 역진자의 비주얼서보잉에 대한 연구)

  • Lee, Junmin;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.3
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    • pp.240-247
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    • 2013
  • This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.