نتایج جستجو برای: inverted pendulum system
تعداد نتایج: 2250784 فیلتر نتایج به سال:
iii ACKNOWLEDGEMENTS First and foremost I owe my deepest gratitude to my advisor and mentor, Prof. David G. Taylor for mentoring me and supporting me throughout my thesis for the last one year. This thesis would not have been possible unless it was for his patience, motivation, enthusiasm and immense knowledge of the subject matter. Besides my advisor, I would like to thank Prof. Yorai Wardi fo...
Seventy-five young, healthy adults completed a lateral weight-shifting activity in which each shifted his/her center of pressure (CoP) to visually displayed target locations with the aid of visual CoP feedback. Each subject's CoP data were modeled using a single-link inverted pendulum system with a spring-damper at the joint. This extends the simple inverted pendulum model of static balance in ...
In this work, stability control of bipedal standing is investigated. The biped is simplified as an inverted pendulum with a foot-link. The controller consists of a general regression neural network (GRNN) feedback control, which stabilizes the inverted pendulum in a region around the upright position, and a PID feedback control, which keeps the pendulum at the upright position. The GRNN control...
We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides ...
The paper deals with design and implementation of swing-up algorithm for physical model of inverted pendulum. It presents detail derivation of the full nonlinear mathematical model, formulation of dynamic optimization task and its solution by use of DYNOPT toolbox that finds control signal which causes rising of the pendulum into upright position. The control scheme containing this control sign...
A new development of a swing-tracking control algorithm for nonlinear inverted pendulum system presents in this paper. Sliding mode control technique is used and guided by Lyapunov stability criterion and tuned by Bees-slice genetic algorithm (BSGA). The main purposes of the proposed nonlinear swing-tracking controller is to find the best force control action for the real inverted pendulum mode...
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