Proceedings ArticleDOI
A nonlinear observer for the inverted pendulum
Johan Eker,Karl Johan Åström +1 more
- pp 332-337
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TLDR
In this paper, the design of a nonlinear observer for the inverted pendulum is discussed and conditions for the stability of the observer are given, and the results are illustrated by simulation and experiments on a real pendulum.Abstract:
This paper deals with the design of a nonlinear observer for the inverted pendulum. The observer uses the standard structure of the linear observer with the linear model replaced by a nonlinear model. Nominal observer gains are determined from a linearised model. This model is also used to find a compromise between robustness and performance. The stability of the observer is then discussed and conditions for the stability of the observer are given. The results are illustrated by simulation and experiments on a real pendulum.read more
Citations
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Journal ArticleDOI
Brief Swinging up a pendulum by energy control
K. J. íStröM,Katsuhisa Furuta +1 more
TL;DR: It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity.
Journal ArticleDOI
Swinging up a Pendulum by Energy Control
TL;DR: In this paper, the authors presented the concept of energy control and showed how robust strategies for swinging up an inverted pendulum are obtained using this idea, and the behavior obtained with the strategy depends critically on the ratio of the maximum acceleration of the pivot to the acceleration of gravity.
Dissertation
Industrial Robot Programming
TL;DR: Considering industrial demands, such as computing efficiency and simple factory-floor operation, a layered system architecture and technical solutions to accomplish it are proposed, and a notion of user views is introduced as the basis for definition of the layers; the layers support programming on levels ranging from implementation of motor control and up to end-user programming.
Journal ArticleDOI
Microchaotic Motion of Digitally Controlled Machines
Eniko T. Enikov,Gabor Stepan +1 more
TL;DR: In this article, the analysis of the equation of motion shows that chaotic vibrations occur around the equilibrium even when stochastic effects related to human control are not present, even when these delayed systems should be stable, as are often experienced in robotics.
References
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Book
Computer-Controlled Systems: Theory and Design
TL;DR: This volume focuses on the design of computer-controlled systems, featuring computational tools that can be applied directly and are explained with simple paper-and-pencil calculations.
Book
Feedback Systems: Input-output Properties
TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.
Book ChapterDOI
A new inverted pendulum apparatus for education
K. Furuta,M. Yamakita +1 more
TL;DR: In this article, an inverted pendulum fixed by a hinge to a rotating arm is proposed for control researches and for control laboratory experiments, but it does not have the driving means such as belt or wire which yields uncertainties.
Related Papers (5)
Nonlinear Controller Design of the Inverted Pendulum System based on Extended State Observer
Limin Du,Fucheng Cao +1 more