In this paper, the feasibility of a Control Moment Gyroscope (CMG) as balance assistance device is investigated. An inverted pendulum is used as experimental set-up. Our initial results show that it is possible to maintain balance within a 4 degrees range from vertical.

State-space methods are well adapted for solving stabilization problems. In the linear multivariable case, when the poles are placed, some degrees of freedom are left which can be used to place some zeros in the transfer functions from the perturbations to the outputs, called regulation zeros, to reject some perturbations. It is therefore interesting to use a suitable representation to compute ...

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfor...

this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...

This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in t...

Due to the advancement of computing and communication technology, networked control systems may soon become prevalent in many control applications. While the capability of employing the communication network in the control loop certainly provides many benefits, it also raises several challenges which need to be overcome to utilize the benefits. In this chapter, we focus on one major challenge: ...

In this paper, the decoupled neural network reference compensation technique (DRCT) is applied to the control of a two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural networks are used as auxiliary controllers for both the x axis and y axis of the PD controlled inverted pendulum. The DRCT method known to compensate for uncertainties at the trajectory level is used to contro...

This paper addresses some of the potential benefits of using f u z z y logic controllers to control an i n v e r t e d pendulum system. The stages of the development of a fuzzy logic controller using a four input T a k a g i -Sugeno fuzzy model were presented. The main idea of this paper is to implement and optimize fuzzy logic control algorithms in order t o balance the inverted pendulum and a...