Control Systems Engineering

Ieee transactions on control systems technology

Review of modelling and control of two-wheeled robots

This paper presents an integrated interval type-2 fuzzy logic approach that simultaneously models and controls an underactuated mobile two-wheeled inverted pendulum (MTWIP), which suffers from modeling uncertainties and external disturbances. The control objective is to attain the desired position and direction while keeping the MTWIP balanced. It is achieved by integrating four interval type-2 fuzzy logic systems (IT2 FLSs): the first IT2 FLS describes the dynamics of the MTWIP using a Takagi–Sugeno model, the second IT2 FLS controls the balance of the MTWIP using also a Takagi–Sugeno model, and the third and fourth IT2 FLSs control its position and direction, respectively, using a Mamdani model. A linear matrix inequality based design approach is also proposed to guarantee the stability of the balance controller. The proposed approach is compared with a type-1 FLS in real-world experiments. All results demonstrate that the IT2 FLS outperforms the type-1 FLS, especially under modeling uncertainties and external disturbances.

Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum

Cinnamon has been utilized to remedy a lot of afflictions of humans Literary works illustrate that it possesses numerous biological activities Our research study is intended to recognize the phyto-derived antiviral substances from Cinnamon against COVID-19 main protease enzyme and to understand the in silico molecular basis of its activity In the present study, 48 isolates compounds from Cinnamon retrieved from the PubMed database, are subjected to docking analysis Docking study was performed using Autodock vina and PyRx software Afterwards, admetSAR, as well as DruLiTo servers, were used to investigate drug-likeness prophecy Our study shows that the nine phytochemicals of Cinnamon are very likely against the main protease enzyme of COVID-19 Further MD simulations could identify Tenufolin (TEN) and Pavetannin C1 (PAV) as hit compounds Utilizing contemporary strategies, these phyto-compounds from a natural origin might establish a reliable medication or support lead identification Identified hit compounds can be further taken for in vitro and in vivo studies to examine their effectiveness versus COVID-19

In silico identification of potential inhibitors from Cinnamon against main protease and spike glycoprotein of SARS CoV-2.

A two wheeled inverted pendulum (TWIP) is an under-actuated mechanical system, which is inherently open-loop unstable with highly nonlinear dynamics. This property attracts the interest of researchers worldwide in recent years. In review, most of the researcher used either Lagrange or Newton-Euler for dynamic modeling of TWIP. Thus, this paper shows the study of the TWIP system by using Kane's method. The nonlinear dynamical equations of the TWIP system were first derived using Kane's Method. Based on the developed model, simulations study was carried out and the results show that the TWIP system is inherently open loop unstable, nonlinear system.

Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based controller and a Linear Quadratic Controller (LQR) which is a model-based controller, and the conventional controller, Proportional Integral Derivative (PID) were implemented and compared on a real time TWIP mobile robot. The FLC controller performance has given superior result as compared to LQR and PID in terms of speed response but consumes higher energy.

A comparison of controllers for balancing two wheeled inverted pendulum robot

A two wheeled inverted pendulum TWIP mobile robot is an under-actuated mechanical system, which is inherently open-loop unstable with highly nonlinear dynamics. This property attracts the interest of researchers worldwide in recent years. This paper presents the development of a linearized model of the TWIP mobile robot based on its nonlinear dynamical model using Takagi-Sugeno T-S fuzzy modeling technique, which can allow the application of linear control techniques in analyzing and efficiently controlling such under-actuated nonlinear system. The complete nonlinear dynamical equations of motion of the TWIP mobile robot were first derived using Kane's Method. Based on the nonlinear dynamical equations of motion, a T-S fuzzy model of the TWIP robot was then developed using local approximation technique. To validate the proposed model, simulations study was carried out and the results show that the proposed model approximates the original nonlinear TWIP mobile robot in the pre-specified domains to certain degree of accuracy.

Takagi-Sugeno fuzzy modeling of a two-wheeled inverted pendulum robot

In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition the controller is tested to show it robustness using different values of payload.

Vibration and tip deflection control of a single-link flexible manipulator

This paper presents identification and control of a DC motor. The dynamic model of the DC motor was first developed through system identification using least square parametric estimation method. Based on the developed dynamic model a state feedback tracking controller was then designed using optimal linear quadratic regulator for speed and position control of the DC motor. The developed dynamic model of the DC motor was validated via simulations and experiments. The performance of the controller was also verified through experiment.

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Mustapha Muhammad

Papers

Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

A comparison of controllers for balancing two wheeled inverted pendulum robot

Takagi-Sugeno fuzzy modeling of a two-wheeled inverted pendulum robot

Vibration and tip deflection control of a single-link flexible manipulator

Identification and Real Time Control of a DC Motor