Sampled-data Fuzzy Control of Two-wheel Inverted Pendulums Based on Passivity Theory

Liu, Rongjun; Wu, Junfeng; Wang, Dan

doi:10.1007/s12555-018-0063-4

Cited by 11 publications

(8 citation statements)

References 35 publications

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“…The following matrices are known from the system showing guarantee of closed loop stabilization. This gain is guaranteed for optimal and stability including for nonlinear model around equilibrium because it is similar to obtained gain by LQR design [24]. Fig.…”

Section: Consider a Candidate Of Lyapunov Function And Its Time Derivsupporting

confidence: 70%

“…Nonlinear dynamics representing Lagrange's equation based mathematical model of inverted pendulum [21], [24], are obtained by substituting (3) to (4) and (2) to (5):…”

Section: A Inverted Pendulummentioning

confidence: 99%

“…for ζ,ζ = 0. By involving cost function (23) to derivative of Lyapunov in (24), then it is obtained thaṫ…”

Section: Consider a Candidate Of Lyapunov Function And Its Time Derivmentioning

confidence: 99%

“…Adopting Lyapunov function from (24) and using (28) to condition < 0 implies that for any α > 0 and β > 0, these inequalities hold: 2ζ…”

Section: Extension To Guaranteed Cost Controlmentioning

confidence: 99%

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Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum

2020

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This paper presents the realisation of self-erecting inverted pendulum controls via two switched control approaches, a rule based fuzzy control for swing up inverted pendulum rod to pose upright position from downright position and an optimal state feedback control for stabilization as pendulum on upright position close to its equilibrium vertical line. The aim of this study is to solve two important problems on self-erecting inverted pendulum; swing up and stability in its upright balance position. Simulation and experimental results showed that control methods enabled the inverted pendulum swinging up and reaching its stable attitude in upright position even though small impulse and pulse disturbances were given. INDEX TERMS Fuzzy swing up, optimal state feedback stabilization, self erecting inverted pendulum.

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Section: Consider a Candidate Of Lyapunov Function And Its Time Derivsupporting

confidence: 70%

“…Nonlinear dynamics representing Lagrange's equation based mathematical model of inverted pendulum [21], [24], are obtained by substituting (3) to (4) and (2) to (5):…”

Section: A Inverted Pendulummentioning

confidence: 99%

“…for ζ,ζ = 0. By involving cost function (23) to derivative of Lyapunov in (24), then it is obtained thaṫ…”

Section: Consider a Candidate Of Lyapunov Function And Its Time Derivmentioning

confidence: 99%

“…Adopting Lyapunov function from (24) and using (28) to condition < 0 implies that for any α > 0 and β > 0, these inequalities hold: 2ζ…”

Section: Extension To Guaranteed Cost Controlmentioning

confidence: 99%

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Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum

2020

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“…Therefore, it is natural to have a meteoric rise of research field on the sampled-data control scheme [21][22][23][24][25][26][27][28][29][30][31][32]. In [21], an aperiodic sampleddata controller was designed for controlling the two-wheel inverted pendulum in the T-S fuzzy model with disturbances on actuators where the proposed controller satisfies verystrict passivity. In [22], H ∞ state estimator for genetic regulatory networks with random delays, uncertainties, and disturbances was designed using sampled-data of the concentrations of mRNAs and proteins.…”

Section: Introductionmentioning

confidence: 99%

Design of sampled-data controllers for the synchronization of complex dynamical networks under controller attacks

Lee

Park

2019

Adv Differ Equ

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This paper addresses the design problem of sampled-data controllers for the synchronization of complex dynamical networks under controller attack. Some discontinuous Lyapunov functionals and zero equation are employed to deal with a sampled-data pattern. Due to the limited access of networks to hackers, cyber-attacks on the controller are considered randomly occurring and are described as an attack function which is nonlinear but assumed to be certain known conditions. The designing conditions for sampled-data controllers against cyber-attack are developed in terms of linear matrix inequality (LMI) by using Lyapunov theory and some novel inequalities. Finally, a numerical example is given to prove the usefulness of the proposed method.

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Controller Optimization for Multirate Systems Based on Reinforcement Learning

Zhan

Xue

et al. 2020

Int. J. Autom. Comput.

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Sampled-data Fuzzy Control of Two-wheel Inverted Pendulums Based on Passivity Theory

Cited by 11 publications

References 35 publications

Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum

Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum

Design of sampled-data controllers for the synchronization of complex dynamical networks under controller attacks

Controller Optimization for Multirate Systems Based on Reinforcement Learning

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