TheWheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the Segway. Designing optimal control laws for point-to-point state-transfer for this autonomous mechanical system, while respecting momentum and torque constraints as well as the underlying manifold, continues to pose challenging problems. In this article we present a...

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 ...

A virtual laboratory is one of the techniques how to allow students of the distance learning gather experiences with the practical experiments. Several German universities are currently developing in the 'LearnNet' project, a network of remotely accesible virtual laboratories that will be shared by their students. We present our contribution to this project, a laboratory for inverted pendulum/g...

Inverted papillomas of the nose and paranasal sinuses are uncommon neoplasms, characterized by their tendency to occur and by their association with malignancy. In the past decade there has been a trend toward the use of endoscopic surgical techniques in the management of these tumors. This article presents the results of a prospective study of 24 patients with inverted papilloma resected by th...

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...