Stabilization of a 2-DOF inverted pendulum by a low cost visual feedback

Wang, Haoping; Chamroo, Afzal; Vasseur, Christian; Končar, Vladan

doi:10.1109/acc.2008.4587094

Cited by 9 publications

(2 citation statements)

References 18 publications

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“…Many analyses on inverted pendulums are conducted because of similarity to such objects as robots and rockets (Boubaker, 2012), (Hovingh et al, 2007). These analysis mostly concerned with modern control systems application like genetic adaptive (Moore et al, 2001), with visual feedback (Wang et al, 2008) or another advanced control methods (Zhijun et al, 2013) including sliding mode control and swing up control. There are also investigations concern nonlinear analysis (Boubaker, 2013), (Prasad et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Electro Pneumatic Control System for Inverted Pendulum

Popławski

Ambroziak

Kondratiuk

2020

Acta Mechanica Et Automatica

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The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendulum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as additional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.

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Section: Introductionmentioning

confidence: 99%

Electro Pneumatic Control System for Inverted Pendulum

Popławski

Ambroziak

Kondratiuk

2020

Acta Mechanica Et Automatica

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“…The DPCC is derived from a classical PCC which enables sampled tracking of linear systems by enabling switching at high frequencies [19], [24]. And the latter stabilization controller is inspired from the hybrid stabilization control of non-minimum nonlinear systems using a low-cost vision [21], [22].…”

Section: Introductionmentioning

confidence: 99%

Hybrid adaptive control used in diesel engine speed regulation

Wang

Bosche

Tian

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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In this paper, a hybrid adaptive control to realize an entire enveloppe speed regulation with fast operating condition changes and input saturation constraint is proposed. It is based on a simplified nonlinear parameter varying diesel engine model which includes variable transport delays in fueling input. The proposed controller which consists of a derived piecewise continuous controller based jumping-up sub-controller and a friction and load torque observer based Lyapunov function stabilization sub-controller guarantees the closed-loop system stability and demonstrates perfectly unknown friction and load torque disturbance rejection capacities. Comparing with a linear parameter varying control, the proposed hybrid adaptive control has better performance in terms of settling time, steady state error and it allows no static state fueling input oscillation and nearly zero speed drop in presence of significant external load torque changes. Moreover, the proposed control has a very simple structure and can be implemented easily for real-time system control. I. INTRODUCTIONDiesel engines are recognized as the most common and preferred solution for the distributed power generating systems in numerous applications, such as automotive vehicles, ships, cranes, and electric power generators due to theirs superior fuel efficiency and durability compared to the other types of internal combustion engines [26], [8], [9]. The diesel engine design objectives are to obtain the best possible performance in terms of speed regulation (such as maintaining good transient and steady-state performance and ensuring good external friction and load disturbance rejection capabilities), fuel consumption economy and exhaust gas emissions. Often, these are conflicting and coupling objectives, e.g. engine speed control has significant impact on engine performance, fuel consumption economy and exhaust gas emission [2]. The nonlinear and open loop possible unstable nature (which is most probably due to the positive feedback from the fueling input pumped from the engine output shaft), time varying delays (due to the interval between the cylinder firings in forward-loop) and multiple operating modes makes the engine speed control a very challenging problem.Until now, different approaches have been tested for engine speed control:• methods based on linearization model which are tuned and scheduled controllers at different operating points: optimal gain scheduling controller [3]

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