A new type of adaptive neural network fuzzy controller based on the stability for the double inverted pendulum control problem is introduced. The method uses a fusion function to reduce the dimension of the system, reducing the number of input variables to solve the fuzzy rule explosion problem. In order to optimize and amend the front-part and later-part parameter of TakagiSugeno fuzzy model, ...

In this study, the swing-up of a double inverted pendulum is controlled by nonlinear model predictive control (NMPC). The fast computation algorithm called C/GMRES (continuation/generalized minimal residual) is applied to solve a nonlinear two-point boundary value problem over a receding horizon in real time. The goal is to swing-up and stabilize two pendulums from the downward to upright posit...

In this paper we present a new approach to determine trajectories for changing the state of the double pendulum on a cart from one equilibrium to another and show the experimental realization on a test bench. The control of these transitions is accomplished by a two-degrees-of-freedom control scheme. For the design of the feedforward and feedback control of the system two models of the double p...

Falling is the leading cause of both fatal and nonfatal injury in the elderly, often requiring expensive hospitalization and rehabilitation. We study the stability of human balance during stance using inverted singleand double-pendulum models, accounting for physiological reflex delays in the controller. The governing second-order neutral delay differential equation (NDDE) is transformed into a...

We theoretically introduce a mesoscopic pendulum from a triple dot. The pendulum is fastened through a singly occupied dot (spin qubit). Two other strongly capacitively coupled islands form a double-dot charge qubit with one electron in excess oscillating between the two low-energy charge states (1,0) and (0,1). The triple dot is placed between two superconducting leads. Under realistic conditi...

The main objective of this paper is to prove new necessary conditions to the existence of KAM tori. These converse KAM conditions, can be used to detect gaps between KAM tori and Aubry-Mather sets. By exploring the connections between viscosity solutions of Hamilton-Jacobi equations, KAM and Aubry-Mather theories we develop a set of explicit a-priori estimates for smooth viscosity solutions tha...

Katsuhisa Furuta and Masaki Yamakita Department of Control Engineering Tokyo Institute of Technology 2121 0 h-0 kayama, Meguroku Tokyo 152 Japan Seiichi Kobayashi Nippon Seiko Ltd. 78 Toriba-machi, Maebashi-shi Gunma 371 Japan Inverted pendulums have been used for the verification of designed control systems and control laboratory experiments in control theory education. In particular, the cont...

Abstract The goal of this paper is to determine the laws observed trajectories assuming that there a mechanical system in background and using these continue motion plausible way. are represented by neural networks with limited number parameters. training follows extreme learning machine idea. We for different levels embedding, thus we can represent not only equation but also symmetries kinds. ...