Nonlinear control of a swinging pendulum
Automatica (Journal of IFAC)
Linear controller for an inverted pendulum having restricted travel: a high-and-low gain approach
Automatica (Journal of IFAC)
A Genetic Approach to the Attitude Control of an Inverted Pendulum System
ICTAI '97 Proceedings of the 9th International Conference on Tools with Artificial Intelligence
Modern Control Approach for Robotic Wheelchair with Inverse Pendulum Control
ISDA '05 Proceedings of the 5th International Conference on Intelligent Systems Design and Applications
Application of GA to design LQR controller for an Inverted Pendulum System
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Genetic Algorithm Optimisation for Fuzzy Control of Wheelchair Lifting and Balancing
EMS '09 Proceedings of the 2009 Third UKSim European Symposium on Computer Modeling and Simulation
Nonlinear model predictive control of an inverted pendulum
ACC'09 Proceedings of the 2009 conference on American Control Conference
An effective hybrid swing-up and stabilization controller for the inverted pendulum-cart system
AQTR '10 Proceedings of the 2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) - Volume 01
An approach to fuzzy control of nonlinear systems: stability and design issues
IEEE Transactions on Fuzzy Systems
Brief Almost global stabilization of the inverted pendulum via continuous state feedback
Automatica (Journal of IFAC)
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This paper presents a novel design of two-wheeled vehicles and an associated stabilization approach. The proposed design provides the vehicle with more flexibility in terms of increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists an attached payload to reach different levels of height as and when required. The model of the system mimics the scenario of the double inverted pendulum on a moving base, with the added DOF. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on the Coulomb friction model are considered so as to retain nonlinear characteristics of the system. A PD-PID robust control approach is derived for the stabilization of the system. An investigation of the impact of damping associated with joints on the stability of the system is carried out. Simulation results validating the model and the control approach are presented and discussed.