This paper proposes a fuzzy classifier system (FCS) using fuzzy rules given by hyper-cone membership functions. The hyper-cone membership function is expressed by a kind of radial basis function, and its fuzzy rules can be flexibly located in input and output spaces. Therefore, The FCS can generate excellent rules which have the best location and shape of membership functions. We apply the FCS ...

The purpose of this document is to establish a technical framework to control Krang in its stable balancing state. We will first discuss related work in inverted pendulum-like systems to get acquianted with the literature. Next, we will present a simple inverted pendulum model, analyze the dynamics and simulate it. We will evaluate the effect of different control gains in state feedback control...

The hybrid solution to the pendulum swinging-up and stabilizing problem introduced by Åström and Furuta is based in two steps: an energy injection and a linear stabilization around the desired inverted position. However the energy injection stage only considers the pendulum, and not the motion of the pivot. Furthermore, for the stabilization stage linear law, only a very small basin of attracti...

The mixed μ synthesis is proposed for mechanical systems. In this method, both the real parametric and the complex uncertainties are handled together. A compensator that achieves nominal performance and meets robust stability specifications can be designed. The method will be illustrated for an inverted pendulum device as an educational example and a suspension design problem as a practical exa...

This study aims to develop a controller for use in the online simulation of two interacting characters. This controller is capable of generalizing two sets of interaction motions of the two characters based on the relationships between the characters. The controller can exhibit similar motions to a captured human motion while reacting in a natural way to the opponent character in real time. To ...

The paper deals with design and implementation of swing-up algorithm for physical model of inverted pendulum. It presents detail derivation of the full nonlinear mathematical model, formulation of dynamic optimization task and its solution by use of DYNOPT toolbox that finds control signal which causes rising of the pendulum into upright position. The control scheme containing this control sign...

Evaluation of balance control ability would become important in the rehabilitation training. In this paper, in order to make clear usefulness and limitation of a traditional simple inverted pendulum model in balance prediction in sit-to-stand movements, the traditional simple model was compared to an inertia (rotational radius) variable inverted pendulum model including multiple-joint influence...

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions. ! 1999 Elsevier Science Ltd. All righ...

This work seeks to improve dynamic accuracy of viewpoint tracking for Augmented Reality. Using an inverted pendulum to model the head, dynamic orientation sensing in a vertical plane is achieved using only a dual axis accelerometer. A unique solution is presented as conventional approaches to solve the model equations fail to produce stable results due to ill conditioning. Accuracy is limited b...

We report an empirical study on the application of machine learning to the modelling of novice controllers’ skills in balancing a pole (inverted pendulum) on top of a cart. Results are presented on the predictive power of the models, and the extent to which they were tailored to each controller. The behaviour of the participants in the study and the behaviour of an interpreter executing their m...