Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

Inverted pendulum models are commonly used to study the bio-mechanics of biped walkers. In its simplest form, the inverted pendulum consists of a point mass attached to two straight mass-less legs. Most works constrain the motion of the mass to the sagittal plane, i.e. the plane perpendicular to the ground that contains the direction toward the biped is walking. In this article, we remove this ...

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The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto-rest maneuvers of the first link about its vertically upright configuration ...

The inverted pendulum is a canonical problem in both Nonlinear Dynamics and Control Theory. In this article, the phenomenon of dynamic stabilization of the vertically driven inverted pendulum is investigated experimentally and numerically. We resolve the first stabilizing boundary in driving parameter space, as well as investigate the effects of frictional damping on the dynamics of the pendulu...

Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during take off. This system consists of one input generating the cart driving force, and two outputs (linear position of the cart and angular position of the rod). The objective of this experimental design is to swing up the pendulum rod using an appropriate open loo...

The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are em...

The problem of stabilizing the double inverted pendulum has been solved using two different techniques which were the Pole Placement and Linear Quadratic Regulator techniques to design controls for the system. Copyright c ©2003 Yang’s Scientific Research Institute, LLC. All rights reserved.

Recent research efforts are considering the problem of performing control of dynamical systems over wireless sensor and actuator networks. However, existing results lack an experimental evaluation in real platforms. In this demonstration an inverted pendulum system is controlled over an IEEE 802.15.4 wireless sensor and actuator network. This platform can evaluate several sensor networks and co...

Introduction There remains some disagreement on the source of anterior ground reaction forces (Fx) in normal gait. For some, a passive "roll-off" results from the position of the body’s center-ofmass (COM) forward of its base of support [1], and to others, an active "push-off" results from plantarflexion power generation at the ankle [2]. The former theory essentially models the body as an inve...