The stability of a humanoid robot is ensured by constraining its Center of Pressure (CoP) within its support polygon; using a simplified model such as the Linear Inverted Pendulum Model (LIPM) allows for a linear mapping between Center of Mass (CoM) and CoP motion. This enables the use of linear Model Predictive Control (MPC) methods to generate a CoM trajectory which realizes a desired CoP mot...

One of the most important problems today is robotics and its control, due to the vast application of inverted pendulum in robots.In this paper, by using a combination of "PSO" Algorithms, we have tried to optimally control the inverted pendulum by nonlinear equations. Here particle swarm optimization algorithm is used to refining parameters of PID controller The results of this simulation has b...

This paper presents different types of mathematical modelling of Inverted Pendulum and also a Proportional-Intregal-Derative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted...

The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A co...

Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on 2D inverted pendulum stabilized with scissored pair control moment gyroscopes. This is fair approximation allowing us to study the dynamics in simplified settings. In this paper propose model for pendulum; neglects all unessential terms and thus suitable analysis. We also simple law based linearization ...

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The ...

We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems. The CL method deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping compl...

In this paper we introduce a practical algorithm for computing an optimal feedback control for nonlinear systems. The algorithm that we present computes a sequence of suboptimal controls that converge to the optimal. We demonstrate the features of the algorithm by three simple examples including the optimal nonlinear feedback control of an inverted pendulum.

Capturability of a robot determines whether it is able to capture a robot within a number of steps. Current capturability analysis is based on stance leg dynamics, without taking adequate consideration on swing leg. In this paper, we combine capturability-based analysis with swing leg dynamics. We first associate original definition of capturability with a timemargin, which encodes a time seque...

We consider a special class of port-Hamiltonian systems for which we propose a design methodology for constructing globally exponentially stable full-order observers using a passivity based approach. The essential idea is to make the augmented system consisting of the plant and the observer dynamics to become strictly passive with respect to an invariant manifold defined on the extended state-s...