Journal ArticleDOI
Swing-up and stabilization of a cart–pendulum system under restricted cart track length
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This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods using the multiple Lyapunov functions approach.About:
This article is published in Systems & Control Letters.The article was published on 2002-11-15. It has received 142 citations till now. The article focuses on the topics: Inverted pendulum.read more
Citations
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Journal ArticleDOI
A Survey of Underactuated Mechanical Systems
Yang Liu,Hongnian Yu +1 more
TL;DR: In this paper, a survey of underactuated mechanical systems (UMS) is presented, from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.
Journal ArticleDOI
Swinging up and stabilization of a real inverted pendulum
N. Muskinja,B. Tovornik +1 more
TL;DR: An adaptive state controller was developed for a stabile pendulum, and in the same time optimal balancing of an inverted pendulum and a switching mechanism between swinging and balancing algorithm is proposed.
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Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input
TL;DR: Linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system.
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The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey
TL;DR: This review tries to explain the high popularity of such a robotic benchmark, which is frequently used to realize experimental models, validate the efficiency of emerging control techniques and verify their implementation, and attempt to provide details on how many standard techniques in control theory fail when tested on such a benchmark.
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Second-order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum
TL;DR: In this article, a second order sliding mode control synthesis for underactuated mechanical systems, operating under uncertainty conditions, is presented. But it does not rely on the generation of first order sliding modes, while providing robustness features similar to those possessed by their standard sliding mode counterparts.
References
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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.
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Learning to control an inverted pendulum using neural networks
TL;DR: In this article, an inverted pendulum is simulated as a control task with the goal of learning to balance the pendulum with no a priori knowledge of the dynamics, and reinforcement and temporal-difference learning methods are presented that deal with these issues to avoid unstable conditions.
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Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
TL;DR: The method of controlled Lagrangians is extended to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems and extends the method to include a class of mechanical system without symmetry such as the inverted pendulum on a cart that travels along an incline.
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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.
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Hybrid control for global stabilization of the cart-pendulum system
Jun Zhao,Mark W. Spong +1 more
TL;DR: A globally stabilizing controller for the cart-pendulum system is designed and several classes of bang-bang controllers and a switching strategy are designed which guarantee that the trajectory of the system starting from any initial condition enters, in finite times of switching, the neighborhood where the locally stabilizing controllers is effective.