For double inverted pendulum multivariable, strong coupling and nonlinear proposed adaptive fuzzy neural inference system (ANFIS) is applied inverted pendulum stabilization control process. Adaptive control algorithm, fully able to meet the requirements of double inverted pendulum control, ANFIS system after training, will be applied to the inverted pendulum system controller has better control...

This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendu...

Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily de ned plane. From this analysis we obtain simple linear dynamics, the ThreeDimensional Linear Inverted Pendulum Mode (3DLIPM). Using a real-time control method based on ...

A device laboratory was designed to create a commanded disturbance to the Furuta inverted pendulum. This pendulum was modified by adding a second inverted pendulum coupled to the main one by means of a semi-rigid spring. The induced motion on the second inverted pendulum causes displacement of the center of mass of the system, producing a kind of perturbation similar to that presented on mobile...

Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC) was applied to evaluate the performance of the MPC controller and tune its parameters. The ...

This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...