The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism an underactuated system with rolling constraints popularized commercially as the Segway, and thereby arrive at a set of simpler dynamical equations that could serve as the starting point for more complex feedback control designs. The first part of the article view...

The problems of swinging up an inverted pendulum on a cart and controlling it around the upright position have been traditionally treated as two separate problems. This paper proposes a strategy that is globally asymptotically stabilizing under actuator saturation and, in addition, locally exponentially stabilizing. The proposed methodology performs swing up and control simultaneously and uses ...

Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action. The FSM technique adopted is based on a piecewise linear...

Article history: Received 28 September 2016 Received in revised form 4 November 2016 Accepted 7 November 2016 Available online 13 November 2016 This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is applied...

This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. In this part (Part 1), we introduce a theoretical framework for asse...

In the field of bipedal locomotion, many researchers use controllers based on simple point mass models to achieve walking balance [1, 2, 3, 4, 5]. In these models, balance is ruled by center of mass (CoM) position and velocity, foot placement and its timing, and pushoff impulses. But is this also true for a more complex, many-DOF, robot? Does upper body motion significantly influence CoM dynami...

In this study, we propose to simulate the center of mass trajectory during walking using a tridimensional Extended Inverted Pendulum model. For the single support trajectory simulation, we consider a modified tridimensional inverted pendulum introducing the forward displacement of its pivot point as the center of pressure translation. The model introduces a representation of the double support ...

Switched controllers are being used frequently for control of complex systems. However, they introduce new challenges for verification of stability, of which a great deal of work in the hybrid systems domain has been formalizing recently. This work is a stability case study of the classical inverted pendulum, in this case controlled using the Simplex architecture of [1], combining to form a com...

Article history: Received 22 October 2010 Received in revised form 11 November 2011 Accepted 11 November 2011 Available online xxxx 0045-7906/$ see front matter Crown Copyright doi:10.1016/j.compeleceng.2011.11.007 ⇑ Corresponding author. E-mail addresses: [email protected] (S. Soyg Please cite this article in press as: Soyguder S with SLIP model. Comput Electr Eng (2011), d In this study,...

...................................................................................................................... iv Author Contributions .................................................................................................. vi Acknowledgments..................................................................................................... viii List of Figures .................