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Nonlinear control of the Reaction Wheel Pendulum
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This paper discusses two control approaches for the problems of swingup and balance, namely, feedback linearization and passivity based control and shows that the Reaction Wheel Pendulum is locally feedback linearizable by a local diffeomorphism in state space and nonlinear feedback.Abstract:
In this paper we introduce the Reaction Wheel Pendulum, a novel mechanical system consisting of a physical pendulum with a rotating bob. This system has several attractive features both from a pedagogical standpoint and from a research standpoint. From a pedagogical standpoint, the dynamics are the simplest among the various pendulum experiments available so that the system can be introduced to students earlier in their education. At the same time, the system is nonlinear and underactuated so that it can be used as a benchmark experiment to study recent advanced methodologies in nonlinear control, such as feedback linearization, passivity methods, backstepping and hybrid control. In this paper we discuss two control approaches for the problems of swingup and balance, namely, feedback linearization and passivity based control. We first show that the system is locally feedback linearizable by a local diffeomorphism in state space and nonlinear feedback. We compare the feedback linearization control with a linear pole-placement control for the problem of balancing the pendulum about the inverted position. For the swingup problem we discuss an energy approach based on collocated partial feedback linearization, and passivity of the resulting zero dynamics. A hybrid/switching control strategy is used to switch between the swingup and the balance control. Experimental results are presented.read more
Citations
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Journal ArticleDOI
Control Experiment of a Wheel-Driven Mobile Inverted Pendulum Using Neural Network
Seul Jung,Sung-Su Kim +1 more
TL;DR: Online learning and control using neural network of a wheel-driven mobile inverted pendulum system is presented, showing the robustness of the proposed controller even when outer impacts as disturbance are present.
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Nonlinear control of mechanical systems with an unactuated cyclic variable
TL;DR: This paper formulates and solves two control problems for underactuation of mechanical models with cyclic variables that have relative degree three with respect to one of the input components and arises by partially integrating the conjugate momentum.
Proceedings ArticleDOI
Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots
Sung-Hee Lee,Ambarish Goswami +1 more
TL;DR: The reaction mass pendulum (RMP) model is introduced, a 3D generalization of the better-known reaction wheel pendulum, which provides additional analytical insights into legged robot dynamics, especially for motions involving dominant rotation, and leads to a simpler class of control laws.
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An optimization method for designing type-2 fuzzy inference systems based on the footprint of uncertainty using genetic algorithms
TL;DR: An optimization method is proposed for designing type-2 fuzzy inference systems based on the footprint of uncertainty (FOU) of the membership functions, considering three different cases to reduce the complexity problem of searching the parameter space of solutions.
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Asymptotic Smooth Stabilization of the Inverted 3-D Pendulum
TL;DR: Control problems for the 3-D pendulum exemplify attitude stabilization problems on the configuration manifold SO(3) in the presence of potential forces are solved using smooth and globally defined feedback of angular velocity and a reduced attitude vector.
References
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Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Journal ArticleDOI
The swing up control problem for the Acrobot
TL;DR: In this article, the authors considered the swing-up control problem of a two-degree-of-freedom planar robot with a single actuator and gave conditions under which the response of either degree of freedom may be globally decoupled from the response on the other and linearized.
Proceedings ArticleDOI
The Pendubot: a mechatronic system for control research and education
Mark W. Spong,Daniel J. Block +1 more
TL;DR: The Pendubot as discussed by the authors is a two-link planar robot with an actuator at the shoulder but no arm at the elbow, designed for control engineering education and for research in nonlinear control and robotics.
Journal ArticleDOI
Stabilization of Underactuated Mechanical Systems Via Interconnection and Damping Assignment
Romeo Ortega,Mark W. Spong +1 more
TL;DR: In this paper, the application of the newly developed interconnection and damping assignment (IDA) passivity-based control (PBC) to the problem of stabilization of underactuated mechanical systems is discussed.
Proceedings ArticleDOI
Swing up control of the Acrobot
TL;DR: A swing up strategy based on partial feedback linearization is developed which works by creating "unstable zero dynamics" which drives the first link of the Acrobot away from its open loop stable equilibrium toward the inverted position.