Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function

Nonlinear Control of the Inertia Wheel Pendulum

Inverted Pendulum Control Using Negative Data

   In the training phase of learning algorithms, it is always important to have a suitable training data set. The presence of outliers, noise data, and inappropriate data always affects the performance of existing algorithms. The active learning method (ALM) is one of the powerful tools in soft computing inspired by the computation of the human brain. The operation of this algorithm is complete...

Feedback Linearization Control of the Inertia Wheel Pendulum

In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory...

Back and Forward Moving Scheme of Front Wheel Raising for Inverse Pendulum Control Wheel Chair Robot

A power assist wheel chair robot by which a patient can climb over steps/curbs without any helper's assistance is proposed. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Next, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step being assisted by DC motor force. A light weight wheel chair system...

Exponential Stabilization of the Inertia Wheel Pendulum Using Dynamic Surface Control

This paper considers the stabilization problem of Inertia Wheel Pendulum, a widely studied benchmark nonlinear system. It is a classical example of a flat underactuated mechanical system, for which the design of control law becomes a challenging task owing to its underactuated nature. A novel nonlinear controller design, fusing the recently introduced Dynamic Surface Control and the Control Lya...