Download or read book The Inverted Pendulum in Control Theory and Robotics written by Olfa Boubaker and published by IET. This book was released on 2017-10-24 with total page 409 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum.
Download or read book Advanced Control of Wheeled Inverted Pendulum Systems written by Zhijun Li and published by Springer Science & Business Media. This book was released on 2012-07-13 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics, dynamics modeling, advanced control design techniques and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by. The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation method. Although primarily intended for researchers in robotic control, Advanced Control of Wheeled Inverted Pendulum Systems will also be useful reading for graduate students studying nonlinear systems more generally.
Download or read book Robust and Intelligent Control of a Typical Underactuated Robot written by Jian Huang and published by Springer Nature. This book was released on 2023-02-09 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP’s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected.This book is intended for researchers and engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.
Download or read book Robust and Intelligent Control of a Typical Underactuated Robot written by 黄剑 and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control Theory in Biomedical Engineering written by Olfa Boubaker and published by Academic Press. This book was released on 2020-06-30 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Theory in Biomedical Engineering: Applications in Physiology and Medical Robotics highlights the importance of control theory and feedback control in our lives and explains how this theory is central to future medical developments. Control theory is fundamental for understanding feedback paths in physiological systems (endocrine system, immune system, neurological system) and a concept for building artificial organs. The book is suitable for graduate students and researchers in the control engineering and biomedical engineering fields, and medical students and practitioners seeking to enhance their understanding of physiological processes, medical robotics (legs, hands, knees), and controlling artificial devices (pacemakers, insulin injection devices).Control theory profoundly impacts the everyday lives of a large part of the human population including the disabled and the elderly who use assistive and rehabilitation robots for improving the quality of their lives and increasing their independence. - Gives an overview of state-of-the-art control theory in physiology, emphasizing the importance of this theory in the medical field through concrete examples, e.g., endocrine, immune, and neurological systems - Takes a comprehensive look at advances in medical robotics and rehabilitation devices and presents case studies focusing on their feedback control - Presents the significance of control theory in the pervasiveness of medical robots in surgery, exploration, diagnosis, therapy, and rehabilitation
Download or read book The Reaction Wheel Pendulum written by Daniel J. Block and published by Morgan & Claypool Publishers. This book was released on 2007-12-01 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
Download or read book Experimental Robotics VII written by Daniela Rus and published by Springer. This book was released on 2007-09-04 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: Experimental robotics is at the core of validating robotics research for both its system science and theoretical foundations. Robotics experiments serve as a unifying theme for robotics system science and theoretical foundations. This book collects papers on the state of the art in experimental robotics. The papers were presented at the 2000 International Symposium on Experimental Robotics.
Download or read book Cognitive Robotics Control written by Cecilio Angulo and published by MDPI. This book was released on 2020-06-16 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics and control are both research and application domains that have been frequently engineered through the use of interdisciplinary approaches like cybernetics. Cognition is a particular concept of this approach, abstracted from the context of living organisms to that of artificial devices, and is concerned with knowledge acquisition and understanding through thought, experience, and the senses. Cognitive robotics and control refer to knowledge processing as much as knowledge generation from problem understanding, leading to special forms of architectures that enable systems to behave in an autonomous way. The main aim of this book is to highlight emerging applications and address recent breakthroughs in the domain of cognitive robotics and control and related areas. Procedures, algorithms, architectures, and implementations for reasoning, problem solving, or decision making are considered in the domain of robotics and control.
Download or read book Fuzzy Adaptive Control of a Two wheeled Inverted Pendulum written by Tianqi Xi and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, the two-wheeled inverted pendulum has drawn the attention of robotic community in view of a plethora of applications, such as transport vehicles: Segway, teleconferencing robots, and electronic network-vehicle. As a widely-used personal transportation vehicle, a two-wheeled inverted pendulum robot has the advantages of small size and simple structure. Moreover, with the advent of modern control technology, these kinds of platforms with safety features and sophisticated control functions can be cost down, so that they have high potential to satisfy stringent requirements of various autonomous service robots with high speed. At the same time, it is of great interest from control point of view as the inverted pendulum is a complicated, strongly coupled, unstable and nonlinear system. Therefore, it is an ideal experimental platform for various control theories and experiments. To understand such a complex system, the Lagrangian equation has been introduced to develop a dynamic model. And following the mathematical model, linear quadratic regulator control and fuzzy adaptive method are proposed for upright stabilization, velocity control and position control of the system. However, sometimes these kinds of robots need to move on a slope, so an advanced linear quadratic regulator controller and a modified fuzzy adaptive controller have been proposed to achieve position control on a slope for the robot while stabilizing its body in balance. In addition, trajectory tracking control using proportional integral derivative control and sliding mode control with fuzzy adaptive backstepping method is also designed to make the robot autonomously navigate in two dimensional plane. Simulation results indicate that the proposed controllers are capable of providing appropriate control actions to steer the vehicle in desired manners. Then, a couple of real time experiments have been conducted to verify the the effectiveness of the developed control strategies.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Control Instrumentation and Mechatronics Theory and Practice written by Norhaliza Abdul Wahab and published by Springer Nature. This book was released on 2022-07-07 with total page 880 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceeding includes original and peer-reviewed research papers from the 3rd International Conference on Control, Instrumentation and Mechatronics Engineering (CIM2022). The conference is a virtual conference held on 2-3 March 2022. The topics covered latest work and finding in the area of Control Engineering, Mechatronics, Robotics and Automation, Artificial Intelligence, Manufacturing, Sensor, Measurement and Instrumentation. Moreover, the latest applications of instrumentations, control and mechatronics are provided. Therefore, this proceeding is a valuable material for researchers, academicians, university students and engineers.
Download or read book Spring Loaded Inverted Pendulum Running written by William John Schwind and published by . This book was released on 1998 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Perspectives in Control written by Dorothee Normand-Cyrot and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Perspectives in Control comprises twenty-one essays by leading experts in the field of control. Most of these were presented as plenary lectures at the colloquium erspectives in Control held at Paris, June 1998, and organised by the GdR-Automatique to mark the occasion of the sixtieth birthday of its founder, Ioan Dori Landau. The book provides a unique opportunity to report the views of the world-renowned authorities on some of the directions in which control disciplines might evolve in various areas at the threshold of the twenty-first century. The variety of essays, which includes advanced methodological contributions and overview tutorials as well as more philosophical reflections, contributes to the richness of the book. Many aspects of the field are discussed , including: - adaptive control; - passivity concepts; - nonlinear control; - system identification; - supervisory control; - diagnosis; - emerging applied fields such as mechatronics, air traffic control, power plants, and educational devices. Many of the pioneering aspects of Professor Landau's work are covered. The book will be of interest to scientists as a guide to challenging research subjects, and of value to applied researchers as a survey of the current state of the art and potential of the field.
Download or read book Intelligent Robotics and Applications written by Haibin Yu and published by Springer. This book was released on 2019-08-01 with total page 754 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete information and strong disturbance; human-centered robotics; development of high-performance joint drive for robots; modular robots and other mechatronic systems; compliant manipulation learning and control for lightweight robot. Part II: power-assisted system and control; bio-inspired wall climbing robot; underwater acoustic and optical signal processing for environmental cognition; piezoelectric actuators and micro-nano manipulations; robot vision and scene understanding; visual and motional learning in robotics; signal processing and underwater bionic robots; soft locomotion robot; teleoperation robot; autonomous control of unmanned aircraft systems. Part III: marine bio-inspired robotics and soft robotics: materials, mechanisms, modelling, and control; robot intelligence technologies and system integration; continuum mechanisms and robots; unmanned underwater vehicles; intelligent robots for environment detection or fine manipulation; parallel robotics; human-robot collaboration; swarm intelligence and multi-robot cooperation; adaptive and learning control system; wearable and assistive devices and robots for healthcare; nonlinear systems and control. Part IV: swarm intelligence unmanned system; computational intelligence inspired robot navigation and SLAM; fuzzy modelling for automation, control, and robotics; development of ultra-thin-film, flexible sensors, and tactile sensation; robotic technology for deep space exploration; wearable sensing based limb motor function rehabilitation; pattern recognition and machine learning; navigation/localization. Part V: robot legged locomotion; advanced measurement and machine vision system; man-machine interactions; fault detection, testing and diagnosis; estimation and identification; mobile robots and intelligent autonomous systems; robotic vision, recognition and reconstruction; robot mechanism and design. Part VI: robot motion analysis and planning; robot design, development and control; medical robot; robot intelligence, learning and linguistics; motion control; computer integrated manufacturing; robot cooperation; virtual and augmented reality; education in mechatronics engineering; robotic drilling and sampling technology; automotive systems; mechatronics in energy systems; human-robot interaction.
Download or read book Robotics and Artificial Intelligence written by Michael Brady and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 683 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Lester A. Gerhardt Professor and Chairman Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute Troy, New York 12180 This book is a collection of papers on the subject of Robotics and Artificial Intelligence. Most of the papers contained herein were presented as part of the program of the NATO Advanced Study Institute held in June 1983 at Castel vecchio Pascoli, Italy on the same subject. Attendance at this two week Institute was by invitation only, drawing people internationally representing industry, government and the academic community worldwide. Many of the people in attendance, as well as those presenting papers, are recognized leaders in the field. In addition to the formal paper presentations, there were several informal work shops. These included a workshop on sensing, a workshop on educational methodology in the subject area, as examples. This book is an outgrowth and direct result of that Institute and includes the papers presented as well as a few others which were stimulated by that meeting. A special note is the paper entitled "State-of-the-Art and Predictions for Artificial Intelligence and Robotics" by Dr. R. Nagel which appears in the Introduction and Overview chapter of this book. This paper was originally developed as part of a study for the United States Army performed by the National Research Council of the National Academy of Science and published as part of a report entitled "Applications of Robotics and Artificial Intelligence to Reduce Risk and Improve Effectiveness" by National Academy Press in 1983.
Download or read book Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink written by Mustefa Jibril and published by GRIN Verlag. This book was released on 2020-08-21 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: Academic Paper from the year 2020 in the subject Computer Science - Software, , language: English, abstract: In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllers used in this paper are H∞ Loop Shaping Design Using Glover McFarlane Method and mixed H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum, a DC motor, Cart and Cart driving mechanism have been done successfully. Comparison of an inverted pendulum with H∞ Loop Shaping Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step and impulse). The simulation result shows that the inverted pendulum with mixed H∞ Loop Shaping Controller to have a small rise time, settling time and percentage overshoot in the step response and having a good response in the impulse response too. Finally the inverted pendulum with mixed H∞ Loop Shaping Controller shows the best performance in the overall simulation result.
Download or read book Bipedal Robots written by Christine Chevallereau and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
