Intelligent decoupled controller for mobile inverted pendulum real-time implementation

2017 ◽  
Vol 32 (6) ◽  
pp. 3809-3820 ◽  
Author(s):  
Chih-Hui Chiu ◽  
Ya-Fu Peng ◽  
Chung-Hsun Sun
Keyword(s):  
Real Time ◽  
Inverted Pendulum

scholarly journals Real-Time Swing-up Control of Non-Linear Inverted Pendulum using Lyapunov based Optimized Fuzzy Logic Control

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Arpit Jain ◽  
Abhinav Sharma ◽  
Vibhu Jately ◽  
Brian Azzopardi ◽  
Sushabhan Choudhury
Keyword(s):  
Fuzzy Logic ◽  
Real Time ◽  
Fuzzy Logic Control ◽  
Inverted Pendulum ◽  
Logic Control ◽  
Non Linear

Real-time Locomotion Controller using an Inverted-Pendulum-based Abstract Model

2018 ◽  
Vol 37 (2) ◽  
pp. 287-296 ◽  
Author(s):  
Jaepyung Hwang ◽  
Jongmin Kim ◽  
Il Hong Suh ◽  
Taesoo Kwon
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Abstract Model ◽  
Locomotion 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.

Characteristics of Real-Time Imitation Control for Biped Robot: Falling Time Analysis

2013 ◽  
Vol 427-429 ◽  
pp. 983-986
Author(s):  
Yi Feng Cui ◽  
Su Goog Shon ◽  
Hee Jung Byun
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Angular Position ◽  
Biped Robot ◽  
Trajectory Data ◽  
Time Analysis ◽  
The Real ◽  
Real Robot

The purpose of this paper is to show that a biped robot can walk by an imitation control. It proposes architecture and system for real-time imitation control of a biped robot. Using this method, the operator can interact with the robot to walk. The operator produces trajectory data necessary to start, stop, walk and redirect the robot. We have to send control commands or new angular position values for to the robot as fast as possible. To get intuition how fast the robot should be controlled, its falling time which as the primary time question is discussed. An inverted pendulum calculation example and the real robot fall down experiment were compared in this paper.

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