Relevant bibliographies by topics / Rotational inverse pendulum

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Rotational inverse pendulum'

Author: Grafiati
Published: 4 June 2021
Last updated: 17 February 2022

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Journal articles on the topic "Rotational inverse pendulum"

1

Staicu, Stefan, Zhufeng Shao, Zhaokun Zhang, Xiaoqiang Tang, and Liping Wang. "Kinematic analysis of the X4 translational–rotational parallel robot." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803849.

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High-speed pick-and-place parallel manipulators have attracted considerable academic and industrial attention because of their numerous commercial applications. The X4 parallel robot was recently presented at Tsinghua University. This robot is a four-degree-of-freedom spatial parallel manipulator that consists of high-speed closed kinematic chains. Each of its limbs comprises an active pendulum and a passive parallelogram, which are connected to the end effector with other revolute joints. Kinematic issues of the X4 parallel robot, such as degree of freedom analysis, inverse kinematics, and singularity locus, are investigated in this study. Recursive matrix relations of kinematics are established, and expressions that determine the position, velocity, and acceleration of each robot element are developed. Finally, kinematic simulations of actuators and passive joints are conducted. The analysis and modeling methods illustrated in this study can be further applied to the kinematics research of other parallel mechanisms.
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HE, SHOULING. "NEURAL ADAPTIVE CONTROL OF NONLINEAR MULTIVARIABLE SYSTEMS WITH APPLICATION TO A CLASS OF INVERTED PENDULUMS." International Journal of Neural Systems 12, no. 05 (October 2002): 411–24. http://dx.doi.org/10.1142/s0129065702001254.

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In this paper multilayer neural networks (MNNs) are used to control the balancing of a class of inverted pendulums. Unlike normal inverted pendulums, the pendulum discussed here has two degrees of rotational freedom and the base-point moves randomly in three-dimensional space. The goal is to apply control torques to keep the pendulum in a prescribed position in spite of the random movement at the base-point. Since the inclusion of the base-point motion leads to a non-autonomous dynamic system with time-varying parametric excitation, the design of the control system is a challenging task. A feedback control algorithm is proposed that utilizes a set of neural networks to compensate for the effect of the system's nonlinearities. The weight parameters of neural networks updated on-line, according to a learning algorithm that guarantees the Lyapunov stability of the control system. Furthermore, since the base-point movement is considered unmeasurable, a neural inverse model is employed to estimate it from only measured state variables. The estimate is then utilized within the main control algorithm to produce compensating control signals. The examination of the proposed control system, through simulations, demonstrates the promise of the methodology and exhibits positive aspects, which cannot be achieved by the previously developed techniques on the same problem. These aspects include fast, yet well-maintained damped responses with reasonable control torques and no requirement for knowledge of the model or the model parameters. The work presented here can benefit practical problems such as the study of stable locomotion of human upper body and bipedal robots.
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Zhang, Dahai, Haocai Huang, Ying Chen, Haitao Zhao, and Wei Li. "State-Dependent Model of a Hydraulic Power Takeoff for an Inverse Pendulum Wave Energy Converter." Marine Technology Society Journal 49, no. 5 (September 1, 2015): 38–48. http://dx.doi.org/10.4031/mtsj.49.5.2.

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AbstractThis article reports on a state-dependent model of a hydraulic power takeoff (PTO) for an inverse pendulum wave energy converter. The PTO influences the energy conversion performance by its efficiency and by the damping force exerted, which affects the motion of the body. The state-dependent model presented gives a description of the damping force and the internal dynamics of the hydraulic PTO system. Different values of the parameters of the accumulator and the motor torque are analyzed in order to improve the dynamic performance of the converter. The simulation results prove that it is possible to achieve a great enhancement of the power output with the implementation of optimization parameters of the hydraulic PTO and that a possible combination of some of them might be beneficial for improved efficiency of the system. <def-list>Nomenclature<def-item><term>A :</term><def>pipe cross-section area</def></def-item><def-item><term>B :</term><def>rotational friction coefficient</def></def-item><def-item><term>Dh :</term><def>pipe hydraulic diameter</def></def-item><def-item><term>Fy :</term><def>damping force</def></def-item><def-item><term>L :</term><def>angular momentum of the motor</def></def-item><def-item><term>Leq :</term><def>equivalent length of local resistances</def></def-item><def-item><term>Lg :</term><def>pipe geometrical length</def></def-item><def-item><term>J :</term><def>inertia momentum</def></def-item><def-item><term>kl :</term><def>motor leakage coefficient</def></def-item><def-item><term>kS :</term><def>pipe cross-section shape factor</def></def-item><def-item><term>pa :</term><def>accumulator pressure</def></def-item><def-item><term>pd :</term><def>pressure drop along the pipe</def></def-item><def-item><term>pp :</term><def>oil pressure</def></def-item><def-item><term>ppr :</term><def>precharged pressure of accumulator</def></def-item><def-item><term>qa :</term><def>accumulator flow</def></def-item><def-item><term>qleak :</term><def>leakage flow from motor</def></def-item><def-item><term>qm :</term><def>motor flow</def></def-item><def-item><term>qp :</term><def>oil flow</def></def-item><def-item><term>Re :</term><def>Reynolds number</def></def-item><def-item><term>R :</term><def>set point for damping force</def></def-item><def-item><term>S :</term><def>piston cylinder cross-section area</def></def-item><def-item><term>Tf :</term><def>losses due to rotational friction</def></def-item><def-item><term>TG :</term><def>generator torque</def></def-item><def-item><term>Tm :</term><def>motor torque</def></def-item><def-item><term>Ts :</term><def>losses due to rotational momentum</def></def-item><def-item><term>V :</term><def>oil volume</def></def-item><def-item><term>VA :</term><def>accumulator volume</def></def-item><def-item><term>V :</term><def>piston velocity</def></def-item><def-item><term>ηm :</term><def>mechanical efficiency of the motor</def></def-item><def-item><term>ωm :</term><def>angular velocity of the motor</def></def-item><def-item><term>ρ :</term><def>oil density</def></def-item></def-list>
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Cao, Shou Qi, Shu Man Fu, and Zi Yue Wu. "Analysis of Hydrodynamic Model of Wave Energy Converter of Inverse Pendulum." Applied Mechanics and Materials 483 (December 2013): 223–28. http://dx.doi.org/10.4028/www.scientific.net/amm.483.223.

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The efficiency analysis of wave energy collection and conversion is crucial for utility of wave energy of inverse pendulum. In the paper, we build the hydrodynamic model of interaction between pendulum and wave in wave energy converter of inverse pendulum. On the basis of this typical model, we choose the actual wave condition of some sea area in the east of China as the background, research the hydrodynamic property of pendulum by numerical simulation with fluent software, get the relation curve of between the rotation angle of pendulum and moment of wave force with time, and acquire energy conversion model from wave energy to mechanical energy in wave energy converter of inverse pendulum. It makes the beneficial exploration for optimal design of wave energy converter of inverse pendulum.
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Zhang, Dahai, Wei Li, You Ying, Haitao Zhao, Yonggang Lin, and Jingwei Bao. "Wave energy converter of inverse pendulum with double action power take off." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 11 (January 31, 2013): 2416–27. http://dx.doi.org/10.1177/0954406213475760.

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This article describes a double action hydraulic power take off for a wave energy converter of inverse pendulum. The power take off converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the double action power take off and its control are critical to the magnitude and the continuity of the generated power. The interaction between the power take off behavior and the wave energy converter’s hydrodynamic characteristics is complex, therefore a time domain simulation study is presented in which both parts are included. The power take off is modeled using AMESim®, and the hydrodynamic equations are implemented in MATLAB®; simulation is used to predict the behavior of the complete system. The simulation results show that the design of the double action hydraulic power take off for wave energy converter of inverse pendulum is entirely feasibility and its superiority has been verified by the preliminary experiments, especially compared with the existing single action power take off system.
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Chen, Xuechao, Qiang Huang, Zhangguo Yu, Jing Li, Gan Ma, Libo Meng, and Junyao Gao. "Realization of foot rotation by breaking the kinematic contact constraint." Robotica 34, no. 5 (July 25, 2014): 1059–70. http://dx.doi.org/10.1017/s0263574714002057.

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SUMMARYPrevious research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.
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Duleba, I., and I. Karcz-Duleba. "Suboptimal approximations in repeatable inverse kinematics for robot manipulators." Bulletin of the Polish Academy of Sciences Technical Sciences 65, no. 2 (April 1, 2017): 209–17. http://dx.doi.org/10.1515/bpasts-2017-0025.

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Abstract In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.
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Stawicki, Piotr, and Ivan Volosyak. "Comparison of Modern Highly Interactive Flicker-Free Steady State Motion Visual Evoked Potentials for Practical Brain–Computer Interfaces." Brain Sciences 10, no. 10 (September 28, 2020): 686. http://dx.doi.org/10.3390/brainsci10100686.

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Motion-based visual evoked potentials (mVEP) is a new emerging trend in the field of steady-state visual evoked potentials (SSVEP)-based brain–computer interfaces (BCI). In this paper, we introduce different movement-based stimulus patterns (steady-state motion visual evoked potentials—SSMVEP), without employing the typical flickering. The tested movement patterns for the visual stimuli included a pendulum-like movement, a flipping illusion, a checkerboard pulsation, checkerboard inverse arc pulsations, and reverse arc rotations, all with a spelling task consisting of 18 trials. In an online experiment with nine participants, the movement-based BCI systems were evaluated with an online four-target BCI-speller, in which each letter may be selected in three steps (three trials). For classification, the minimum energy combination and a filter bank approach were used. The following frequencies were utilized: 7.06 Hz, 7.50 Hz, 8.00 Hz, and 8.57 Hz, reaching an average accuracy between 97.22% and 100% and an average information transfer rate (ITR) between 15.42 bits/min and 33.92 bits/min. All participants successfully used the SSMVEP-based speller with all types of stimulation pattern. The most successful SSMVEP stimulus was the SSMVEP1 (pendulum-like movement), with the average results reaching 100% accuracy and 33.92 bits/min for the ITR.
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Shkapov, P. M., A. V. Sulimov, and V. D. Sulimov. "Computational Diagnostics of Jacobi Unstable Dynamical Systems with the Use of Hybrid Algorithms of Global Optimization." Herald of the Bauman Moscow State Technical University. Series Natural Sciences, no. 4 (97) (August 2021): 40–56. http://dx.doi.org/10.18698/1812-3368-2021-4-40-56.

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The study focuses on the problems of restoration and analysis of free parameters of dynamical systems from indirect, approximately given information. In the context of the Kosambi --- Cartan --- Chern theory, a geometric description of the time-evolution of the system is introduced. Five geometric invariants are determined for the system under study. The eigenvalues of the second invariant estimate the Jacobi stability of the system. Such a study is of interest in practical applications, where it is required to identify the regions in which both Lyapunov stability and Jacobi stability occur simultaneously. The inverse problem of computational diagnostics of the system is formulated for approximately given eigenvalues of the second invariant. The solution to the regularized inverse problem is determined using an optimization approach. Scalar criterion functions are assumed to be continuous, multidimensional, locally Lipschitzian, and not necessarily everywhere differentiable. When searching for global solutions, we used new hybrid algorithms that integrate stochastic algorithms for scanning the space of variables and a deterministic local minimization procedure. The numerical scanning procedure is implemented with the use of two modified versions: quasi-opposition-based and rotation-based learning mechanisms. In the phase of local search, two-parameter smoothing approximations of criterion functions are introduced. Examples of solving problems of computational diagnostics of Jacobi unstable dynamical systems are given: the Lorentz system and a controllable elliptical pendulum
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Dissertations / Theses on the topic "Rotational inverse pendulum"

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Li, Bo. "Rotational Double Inverted Pendulum." University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910.

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Jajtner, Jan. "Návrh vestavěného systému pro řízení výukového modelu rotačního kyvadla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232046.

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The basic aim of this work is to improve existing model of rotational inverted pendulum by adding new mechanical features, implement the control algorithm to dsPIC microcontroller and develop related control electronics thus extending the functionality of current model while making it more compact. The work contains derivation of dynamic equations both by means of analytical methods and multi-body formalism of SimMechanics. These are used to design a state controller stabilizing the pendulum in inverse position. In addition, parameters of the system are being estimated experimentally. Swing-up controller is developed to drive the pendulum to unstable position. Various state estimators are added to controller to improve the control process while comparing their overall performance. The last point is devoted to development of superior state-automaton designed to switch between different regulating modes including fail-detection algorithms providing smooth operation of the model.
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Gerving, Corey Scott. "Dynamics of a spin-1 BEC in the regime of a quantum inverted pendulum." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47651.

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The primary study of this thesis is the experimental realization of the non-equilibrium dynamics of a quantum inverted pendulum as examined in the collective spin dynamics of a spin-1 Bose-Einstein condensate. In order to compare experimental results with the simulation past the low depletion limit, current simulation techniques needed to be extended to model atomic loss. These extensions show that traditional measurements of the system evolution (e.g. measuring the mean and standard deviation of the evolving quantity) were insufficient in capturing the quantum nature of the evolution. It became necessary to look at higher order moments and cumulants of the distributions in order to capture the quantum fluctuations. Extending the implications of the loss model further, it is possible that the system evolves in a way previously unpredicted. Spin-mixing from a hyperbolic fixed point in the phase space and low noise atom counting form the core of the experiment to measure the evolution of the distributions of the spin populations. The evolution of the system is also compared to its classical analogue, the momentum-shortened inverted pendulum. The other experimental study in this thesis is mapping the mean-field phase space. The mean-field phase space consists of different energy contours that are divided into both phase-winding trajectories and closed orbits. These two regions are divided by a separatrix whose orbit has infinite period. Coherent states can be created fairly accurately within the phase space and allowed to evolve freely. The nature of their subsequent evolution provides the shape of the phase space orbit at that initial condition. From this analysis a prediction of the nature of the entire phase space is possible.
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Chen, I.-Zu, and 陳奕儒. "Upright and Position Control of Rotational Inverted Pendulum." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/27522073922034721477.

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碩士
國立中央大學
電機工程學系
85
In this paper we use Fuzzy Theory and design a Fuzzzy Controller to imply a new plane "Rotational Inverted Pendulum" . In order to control the Angel and Position of the Inverted Pendulum ,We must desige two controller for Angeland Position respectively and use "Inner and Outer loop" combining two controller.In the result we can make the Rotational Inverted Pendulum upright and locate in the position we set.
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Ren, Su Yuh, and 蘇裕仁. "Control of Integral Sliding Mode Applied to Rotational Inverted Pendulum." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/11163903429797175787.

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碩士
國立交通大學
電機與控制工程系
89
Different from conventional inverted control, this paper designed an unstable、nonlinear and uncertain experimental plant─rotational inverted pendulum. It saves the use of space. It uses the integral sliding mode of the variable structure system to achieve desired points and positions. It is still few in internal and external researches at present that the system is regarded as a control plant. Most of them use Fuzzy theory、PID combined with sliding mode or Fuzzy combined sliding mode. This paper exerts the technique of the integral sliding mode. It provides some accomplishments for the control of rotational inverted pendulum (RIP).
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Liao, Zheng-Chao, and 廖鉦超. "PC-based real-time control for rotational inverted pendulum systems." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/70360294137834282545.

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碩士
國立臺灣海洋大學
電機工程學系
93
Abstract The main purpose of this thesis is to implement a PC-based real-time controller for a nonlinear unstable rotational inverted pendulum. With a fuzzy theory approach, a upward-and-balanced controller is designed first to force the inverted pendulum up forward by using the rotational arm position and angular angle measurements as feedback. Next, a balanced -controller with angular angle and velocity feedback is presented to achieve the up most top position by using a switching control strategy. MATLAB/SIMULINK simulation results, with a hardware-in-the-loop design philosophy, are also given.
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Lin, Hou-Heng, and 林厚亨. "Control and design of rotation inverted pendulum system." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/69816148840739681522.

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碩士
大葉大學
自動化工程研究所
89
Inverted pendulum systems are nonlinear and unstable systems. They are usually used to verify the effectiveness of the proposed control schemes. This paper proposes two controllers in the inverted pendulum system. First one is to linearize this non-linear system and uses the linear theory to design a status feedback controller. Second one proposes a design method of Fuzzy Logic Controller with H-infinite (sub) Robust Control feature. A steady reference model was designed first. The input of this model was the angle of swinging arm and the output was the following angle of the inverted pendulum. One fuzzy system was used to simulate the non-linear dynamic part of this pendulum system. The Fuzzy logic controller with H-infinite (sub) Robust Control feature developed from this fuzzy system was used to force the angle of inverted pendulum to be coincided with the output of the reference model. When the error of these two became near zero, the inverted pendulum became inverted on the vertical position and the angle of swinging arm was close to the original zero position. According to the H-infinite (sub) Robust steady design technique, the error emerged in the fuzzy simulation process can be compensated. The bad effect resulting from this error can be suppressed within any intended ranges. Furthermore, a real swinging type inverted pendulum system was simulated in order to verify the effectiveness of the method proposed in this paper.
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Chien, Po-Chen, and 簡伯丞. "Control for the Rotational Inverted Pendulum System with Particle Swarm Optimization Algorithm." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/20844590421783705102.

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碩士
義守大學
電子工程學系碩士班
99
This paper is mainly aimed at a typical nonlinear and unstable Systems -- Rotational Inverted Pendulum System. The main purpose of this paper is to use Matlab Simulink with Fuzzy Controller and Particle Swarm Optimization, so that the Rotational inverted pendulum system is thrown on the pendulum stand upright. And this system is often used to validate a variety of control theory, because it is a nonlinear system. Using Fuzzy controller database, can be inverted pendulum system quickly return to upright positioning function, even if the interference of external forces, so that the fuzzy control system robustness, adaptability and practicality.
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Chou, Yen-Ling, and 周晏鈴. "Analysis and control of a rotation inverted pendulum using dynamic structure fuzzy systems." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/92093070197447064475.

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碩士
大葉大學
機電自動化研究所碩士班
92
Inverted pendulum systems are typical nonlinear and unstable systems. They are experimentation equipment which usually used to verify the feasibility of the control theory. This paper presents a dynamic structure fuzzy system for model reference adaptive control of nonlinear systems whose dynamic models are poorly understood. The dynamic structure fuzzy system is to reconstruct the unknown nonlinearities of the dynamic systems. In the dynamic structure system, the reference model provides closed-loop performance feedback for generating or modifying a fuzzy approximation knowledge base. The number of fuzzy rules can be either increased or decreased with time based on the required accuracy. The tracking error converges to the required precision through the adaptive control law derived by combining the dynamic structure fuzzy system and the Lyapunov synthesis approach. At last we simulate an inverted-pendulum system control demonstrate the effectiveness of our scheme.
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Chang-WenYang and 楊景文. "Balance and Rotation Control of an Inverted Pendulum System with Control Moment Gyroscopes." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/5zjzy5.

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Book chapters on the topic "Rotational inverse pendulum"

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Wang, Dong, Xinjun Wang, and Liang Zhang. "Controller Design Based on LQR for Rotational Inverted Pendulum." In Advances in Intelligent Systems and Computing, 354–59. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-62746-1_52.

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Duy, Vo Hoang, Dong Si Thien Chau, Vo Huu Hau, Phan Thai Hoa, and Tran Trong Dao. "Stabilization of the Rotational Inverted Pendulum Using Mixed H2/H ∞ PID Controller." In AETA 2013: Recent Advances in Electrical Engineering and Related Sciences, 445–55. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-41968-3_45.

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Rajeswari, K., P. Vivek, and J. Nandhagopal. "Swing up and Stabilization of Rotational Inverted Pendulum by Fuzzy Sliding Mode Controller." In Emerging Trends in Computing and Expert Technology, 415–23. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-32150-5_40.

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Dávila-Leyva, Luis Elias, and Ludovico Soto Nogueira. "Experimental Design to Analyze a Novel Stabilization Design of a Three-Wheel Vehicle." In Handbook of Research on Ergonomics and Product Design, 102–12. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-5234-5.ch007.

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Given current trends in pedal vehicles, this chapter is intended to develop a product that is capable of driving without the use of hands, for people with disabilities or for simple recreation. An apparatus was developed to measure and record the necessary parameters to design the most adequate mechanism to achieve this objective. Twelve different positions were analyzed for the user, two vertical seat positions, two inverted angle configurations of the inverted pendulum, two free degree limits of the pendulum, two wheel rotation degrees regarding the body of the mechanism, and regarding the axis motion, two axial configurations. The conclusion resulted that the function of the mechanisms was optimal.
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"4 Fuzzy Control for the Rotational Inverted Pendulum." In The Control Systems Handbook, 1267–78. CRC Press, 2018. http://dx.doi.org/10.1201/b10384-123.

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Conference papers on the topic "Rotational inverse pendulum"

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Benjanarasuth, Taworn, and Songmoung Nundrakwang. "Hybrid controller for rotational inverted pendulum systems." In SICE 2008 - 47th Annual Conference of the Society of Instrument and Control Engineers of Japan. IEEE, 2008. http://dx.doi.org/10.1109/sice.2008.4654969.

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Shojaei, A. A., M. F. Othman, R. Rahmani, and M. R. Rani. "A Hybrid Control Scheme for a Rotational Inverted Pendulum." In 2011 European Modelling Symposium (EMS). IEEE, 2011. http://dx.doi.org/10.1109/ems.2011.79.

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Wen-hua, Tao. "Control research for single rotation inverted pendulum." In 2006 Chinese Control Conference. IEEE, 2006. http://dx.doi.org/10.1109/chicc.2006.280666.

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Eini, R., and S. Abdelwahed. "Indirect Adaptive fuzzy Controller Design for a Rotational Inverted Pendulum." In 2018 Annual American Control Conference (ACC). IEEE, 2018. http://dx.doi.org/10.23919/acc.2018.8431796.

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Rani, Mohd Rahairi, Hazlina Selamat, Hairi Zamzuri, and Fauzan Ahmad. "PID controller optimization for a rotational inverted pendulum using genetic algorithm." In 2011 Fourth International Conference on Modeling, Simulation and Applied Optimization (ICMSAO). IEEE, 2011. http://dx.doi.org/10.1109/icmsao.2011.5775461.

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Gerstmayr, Johannes, and Hans Irschik. "Control of an Elasto-Plastic Pendulum." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21600.

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Abstract An elasto-plastic pendulum performing large rigid-body rotations and vibrating in the small-strain regime is studied. Spatial distribution of plastic zones within the beam-type pendulum is taken into account. The problem is described by a differential algebraic system of equations for the flexural coordinates and the rotation of the pendulum. This system of equations can be interpreted as a model for an elastic background pendulum under the action of additional sources, formed by the plastic parts of strain. Since the elastic pendulum is a Hamiltonian system, it is possible to control the motion of the elastic pendulum by means of a collocated PD-controller. Especially, we consider the problem of bringing the tip of the elastic pendulum into its upward (inverted) position by means of a control moment acting at the fixed end. We then apply the controller designed for the elastic pendulum to the elasto-plastic model, assuming that the yield level of the material was lowered considerably by some environmental influences. Since the effect of plasticity is dissipative, the controlled elasto-plastic pendulum turns out to reach an equilibrium position, which however does not exactly coincide with the upward target position. This deviation is due to the permanent deformations induced in the pendulum by plasticity, and it is demonstrated in a numerical study.
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Ghanavati, Meysam, Saleh Mobayen, and Vahid Johari Majd. "A new robust model predictive control strategy for rotational inverted pendulum system." In 2011 International Siberian Conference on Control and Communications (SIBCON 2011). IEEE, 2011. http://dx.doi.org/10.1109/sibcon.2011.6072589.

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Eini, Roja, and Sherif Abdelwahed. "Rotational Inverted Pendulum Controller Design using Indirect Adaptive Fuzzy Model Predictive Control." In 2019 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE). IEEE, 2019. http://dx.doi.org/10.1109/fuzz-ieee.2019.8859014.

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9

Sanyal, Amit K., and Ambarish Goswami. "Dynamics and Control of the Reaction Mass Pendulum (RMP) as a 3D Multibody System: Application to Humanoid Modeling." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6086.

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Abstract:
Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this paper we present a thorough analysis of the RMP, which is treated as a 3D multibody system in its own right. We derive the complete kinematics and dynamics equations of the RMP system and obtain its equilibrium conditions. Next we present a nonlinear control scheme that stabilizes this underactuated system about an unstable set with a vertically upright configuration for the “leg” of the RMP. Finally we demonstrate the effectiveness of this controller in simulation.
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Ding, Hao, Zhiquan Zhou, Haodong Dang, and Zhanfeng Zhao. "Control Wheel Rotation Inverted Pendulum Control Based on Unscented Kalman Filter." In 2019 IEEE 2nd International Conference on Information Communication and Signal Processing (ICICSP). IEEE, 2019. http://dx.doi.org/10.1109/icicsp48821.2019.8958540.

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