A new controller for the inverted pendulum on a cart
نویسندگان
چکیده
منابع مشابه
Fractional Order Controller Design For Inverted Pendulum On A Cart System (POAC)
In this paper we propose a Fractional Order Controller for an under-actuated system (POAC). This system has two degrees-of-freedom and one control input. The model of the system is derived using Euler Lagrange method and the stabilization is achieved with constraints using Fractional Order Controller. To validate the control law, simulation are performed and compared with Integer Order Controll...
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متن کاملOptimal Control of a Double Inverted Pendulum on a Cart
In this report a number of algorithms for optimal control of a double inverted pendulum on a cart (DIPC) are investigated and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. This results in a system of nonlinear differential equations consisting of three 2-nd order equations. This sys...
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The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper describes two Neural Network controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. Both controllers are able to learn the demonstrated behavior which was swinging up and balancing t...
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ژورنال
عنوان ژورنال: International Journal of Robust and Nonlinear Control
سال: 2008
ISSN: 1049-8923,1099-1239
DOI: 10.1002/rnc.1300