Global stabilization of an inverted pendulum–Control strategy and experimental verification

Automatica ◽  
2009 ◽  
Vol 45 (1) ◽  
pp. 265-269 ◽  
Author(s):  
B. Srinivasan ◽  
P. Huguenin ◽  
D. Bonvin
Keyword(s):  
Experimental Verification ◽  
Control Strategy ◽  
Inverted Pendulum ◽  
Global Stabilization

scholarly journals A Wheeled Inverted Pendulum Learning Stable and Accurate Control from Demonstrations

2019 ◽  
Vol 9 (24) ◽  
pp. 5279
Author(s):  
Shaokun Jin ◽  
Yongsheng Ou
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Target Position ◽  
Path Following ◽  
Learning Model ◽  
Human Control ◽  
Wheeled Inverted Pendulum ◽  
Learning From Demonstrations ◽  
Trajectory Following ◽  
Robot Position

In order to enable robots to be more intelligent and flexible, one way is to let robots learn human control strategy from demonstrations. It is a useful methodology, in contrast to traditional preprograming methods, in which robots are required to show generalizing capacity in similar scenarios. In this study, we apply learning from demonstrations on a wheeled, inverted pendulum, which realizes the balance controlling and trajectory following simultaneously. The learning model is able to map the robot position and pose to the wheel speeds, such that the robot regulated by the learned model can move in a desired trajectory and finally stop at a target position. Experiments were undertaken to validate the proposed method by testing its capacity of path following and balance guaranteeing.

A GLOBAL STABILIZATION STRATEGY FOR AN INVERTED PENDULUM

2002 ◽  
Vol 35 (1) ◽  
pp. 133-138 ◽  
Author(s):  
B. Srinivasan ◽  
P. Huguenin ◽  
K. Guemghar ◽  
D. Bonvin
Keyword(s):  
Inverted Pendulum ◽  
Global Stabilization

scholarly journals Closed-loop control of ankle plantarflexors and dorsiflexors using an inverted pendulum apparatus: A pilot study

2013 ◽  
Vol 21 (1) ◽  
pp. 31-36 ◽  
Author(s):  
Michael Same ◽  
Hossein Rouhani ◽  
Kei Masani ◽  
Milos Popovic
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Performance Metrics ◽  
Settling Time ◽  
Voluntary Control ◽  
Lower Limbs ◽  
Quiet Stance ◽  
Cord Injury

Considerable demand exists for a device to facilitate hands-free, stable stance in individuals with neurological disorders such as spinal cord injury (SCI) and stroke. In this regard, applying functional electrical stimulation (FES) to muscles of the lower limbs in closed loop has shown promise. In particular, it has been suggested that a PID control strategy could offer functional benefits to stability by mimicking the neurological control strategy employed in able-bodied stance. In this proof of concept study, we tested this assertion by examining the potential of a PID control strategy with gravity compensation to effectively maintain balance during quiet stance by regulating FES-induced contractions of the ankle plantarflexors and dorsiflexors in able-bodied individuals. A novel Inverted Pendulum Standing Apparatus (IPSA) was employed to simulate quiet stance whilst minimizing the voluntary control of able-bodied subjects. Quiet and perturbed standing trials were performed in 3 able-bodied subjects. Performance metrics including those pertaining to stability during quiet stance (root mean square difference), perturbation rejection capabilities (settling time, peak deviation), and ability to transition from an offset initial position (settling time), were examined. For all 3 subjects and for all of the metrics examined, our results showed that the proposed closed-loop controlled FES system improved performance in comparison to voluntary control. These results indicate that the PID plus gravity control strategy used in this study offers meaningful benefits over voluntary control in terms of standing stability. Thus, the controller could potentially be applied to the problem of improving or restoring standing ability in some neurologic patient populations.

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