Real-time control of a wheeled inverted pendulum based on an intelligent model free controller

Mechatronics ◽  
2011 ◽  
Vol 21 (3) ◽  
pp. 523-533 ◽  
Author(s):  
Chih-Hui Chiu ◽  
You-Wei Lin ◽  
Chun-Hsien Lin
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Real Time Control ◽  
Model Free ◽  
Time Control ◽  
Wheeled Inverted Pendulum ◽  
Model Free Controller ◽  
Intelligent Model

scholarly journals Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum

2012 ◽  
Vol 2012 ◽  
pp. 1-8 ◽  
Author(s):  
Huanhuan Mai ◽  
Ying-Jeh Huang ◽  
Xiaofeng Liao ◽  
Ping-Chou Wu
Keyword(s):  
Simple Model ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Dynamic Control ◽  
Planetary Gear ◽  
Real Time Control ◽  
Model Free ◽  
Time Control ◽  
Scaling Parameters ◽  
Model Free Controller

A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use genetic algorithm (GA) to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller.

Real-time control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum

2019 ◽  
Vol 46 (1) ◽  
pp. 159-170 ◽  
Author(s):  
Tayfun Abut ◽  
Servet Soyguder
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Adaptive Controller ◽  
Performance Criteria ◽  
Real Time Control ◽  
Content Type ◽  
Time Control ◽  
Self Tuning ◽  
Fuzzy Adaptive Controller ◽  
Fuzzy Adaptive

PurposeThis paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.Design/methodology/approachAs inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.FindingsAs a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.Originality/valueIn this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

The Design of Real-Time Control System Based on Single-Inverted Pendulum

2013 ◽  
Vol 850-851 ◽  
pp. 553-556
Author(s):  
Qun Yong Ou
Keyword(s):  
Control System ◽  
Control Problem ◽  
Real Time ◽  
Linear Model ◽  
Inverted Pendulum ◽  
Control Algorithms ◽  
Control Board ◽  
Real Time Control ◽  
Control Software ◽  
Time Control

An inverted pendulum is a classic control problem and is widely used as a benchmark for testing various control algorithms. First, this paper analyse the dynamic and non-linear model of the inverted pendulum, then focus on the real-time control of the inverted pendulum, we developed real-time control software for the single-stage inverted pendulum by using Visual C++ 2010, its mainly operate API functions to control board and implement various control algorithms.

Balancing a simulated inverted pendulum through motor imagery: An EEG-based real-time control paradigm

2012 ◽  
Vol 524 (2) ◽  
pp. 95-100 ◽  
Author(s):  
Jingwei Yue ◽  
Zongtan Zhou ◽  
Jun Jiang ◽  
Yadong Liu ◽  
Dewen Hu
Keyword(s):  
Real Time ◽  
Motor Imagery ◽  
Inverted Pendulum ◽  
Real Time Control ◽  
Time Control ◽  
Control Paradigm
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