Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the...
Modern education is characterized by diversity and the need for extensibility. Educational experimental platforms are rapidly evolving according to these factors. However, software and hardware are provided by major domestic manufacturers, which impo...
Stabilization and tracking problems for cart inverted pendulums under disturbances and uncertainties have posed significant challenges for control engineers. While various controllers have been designed for an inverted pendulum, they often overlook t...
This paper presents a real-time adaptive Linear Quadratic Regulator (LQR) control strategy for the rotary inverted pendulum. The state weighting matrix of the LQR cost function is continuously adapted online based on real-time tracking error, state d...
Second-order Linear Active Disturbance Rejection Controller (SLADRC) is a powerful control technique. Ongoing research is focused on simplifying tuning procedures, extending applicability to handle more complex systems, and ensuring efficient real-ti...
The double-inverted pendulum (DIP) constitutes a classical problem in mechanics, whereas the control methods for stabilizing around the equilibrium positions represent the classic standards of control system theory and various control methods in robo...
The linear parameter-varying (LPV) models have broad applications in advanced mathematics and modern control systems. This paper introduces a new method for controlling the LPV systems. This method includes the gain-scheduled state-feedback technique...
Accurate dynamic modeling is the foundation of every model-based control design for reaction-wheel stabilized systems, yet most published studies reproduce analytical derivations from scratch without reporting the practical decisions and configuratio...
In this research, a proportional integral derivative regulator, a first-order sliding-mode regulator, and a second-order sliding-mode regulator are compared, for the regulation of two different types of mathematical model. A first-order sliding-mode...
In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detec...
This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-...
This paper presents the simulation and calculation-based aspect of constructing a dynamically stable, self-balancing electric monowheel from first principles. It further goes on to formulate a reference model-based adaptive control structure in order...
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for t...
In human movement modeling, the problem of multi-link kinematics estimation by means of inertial measurement units has been investigated by several authors through efficient sensor fusion algorithms. In this perspective a single inertial measurement...
A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relev...
Sustained uphill motion of two-wheeled self-balancing wheelchairs is challenging. Slope-induced gravity changes the equilibrium condition, driving-torque demand, and velocity response. This paper proposes a smoothly weighted hybrid control method. Th...
This paper is primarily focused on the robust control of an inverted pendulum system based on policy iteration in reinforcement learning. First, a mathematical model of the single inverted pendulum system is established through a force analysis of th...
This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation...
This paper considers the balance control problems of a configurable inverted pendulum with an omni-directional wheeled mobile robot. The system consists of two parts. One is an inverted pendulum, and another one is an omni-directional wheeled mobile...
The classical problem of stabilization of the controlled inverted pendulum is considered in the case of stochastic perturbations of the type of Poisson’s jumps. It is supposed that stabilized control depends on the entire trajectory of the pend...
This article describes the control of a rotary inverted pendulum utilizing on–off-type cold gas thrusters as the actuators, which have high similarities with thruster actuated spacecrafts with slosh dynamics. The study is completed in three pha...
The inverted pendulum represents a problem of considerable complexity in the field of systems control due to its unstable and nonlinear behavior. In this context, the objective of this research is to design and implement control algorithms for a QUBE...
The cart–inverted pendulum system (CIPS) is a typical example of underactuated mechanical systems. For the CIPS with friction and disturbances, a gain-scheduled model predictive control method is proposed to achieve the upright stabilization ob...
This research article tackles the control problem of an inverted pendulum, also known as the Furuta pendulum, mounted on a velocity-controlled robot manipulator in two configurations: the rotary pendulum and the translational pendulum. Differently fr...
This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificia...
This article addresses the problem of balancing an inverted spherical pendulum on a quadrotor. The full dynamic model is obtained via the Euler-Lagrange formalism, where the dynamics of the pendulum is coupled to the dynamics of the quadrotor, taking...
As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In the tracking control of the X-Z IP, the equilibrium point changes wit...
Control of an inverted pendulum is a classical example of the stabilisation problem pertaining to systems that are unstable by nature. The reaction wheel and the motor act as actuators, generating the torque needed to stabilise the system and counter...
This work will present an algorithmic approach for robust control focusing on hydraulic–mechanical systems. The approach is applied to a hydraulic actuator driving a cart with an inverted pendulum. The algorithmic approach aims to satisfy two r...
In this article, a model of an energy harvester, the mechanical part of which is an inverted pendulum, is proposed. We investigated the stability of a linearized system. It was proven that the stabilizing control of the pendulum, based on the feedbac...
The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by...
The use of metaheuristic algorithms has become very popular in recent years. One of their many applications is in tuning different controllers, especially those that would require extensive effort to tune manually. In some cases, due to the complexit...
This study introduces an innovative self-regulating intelligent optimal balancing control framework for inverted pendulum-type mechatronic platforms, designed to enhance reference tracking accuracy and improve disturbance rejection capability. The co...
A second-order nonsingular terminal sliding mode control (SONTSMC) is proposed to solve the stabilization and tracking problems of an inverted pendulum. Although, a first-order sliding mode controller with the integral of the cart position can elimin...
Wheeled inverted-pendulum robots with movable upper structures and variable payloads exhibit configuration-dependent equilibrium drift and payload-dependent dynamic variation, which complicate balancing control. This paper proposes a gain-scheduled c...
In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability probl...
We consider a class of second-order nonlinear delay differential equations with periodic coefficients in linear terms. We obtain conditions under which the zero solution is asymptotically stable. Estimates for attraction sets and decay rates of solut...
This paper deals with a recent design of event-driven observer-based smart sensors for output feedback control of linear systems. We re-design the triggering mechanism proposed in a previously reported system with the implementation of self-sampling...
This article presents a systematic approach to formulate and experimentally validate a novel Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) design to enhance the robustness of inverted-pendulum-type robotic mechanisms again...
The rotary double inverted pendulum system is characterized by one stable equilibrium point and three unstable equilibrium points due to its kinematic properties. This paper defines the transition control problem between these equilibrium points to e...
The gait and the Foot Placement Estimation (FPE) has recently been extended to 3-D spaces by adopting a specific form of a spherical inverted pendulum (SIP). The approach is very attractive, as it does not involve dynamics, but it is based solely on...
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The Euler-Type Universal Numerical Integrator (E-TUNI) is a discrete numerical structure that couples a first-order Euler-type numerical integrator with some feed-forward neural network architecture. Thus, E-TUNI can be used to model non-linear dynam...
This paper presents an observer-based dynamic output-feedback controller design procedure using linear matrix inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic cr...
This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero mome...
This paper addresses the robust control problem for under-actuated mechanical systems subject to uncertainties. The key challenge lies in achieving precise control with insufficient degrees of freedom while maintaining robustness against system uncer...
This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRN...
This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagra...
Attempting to make machines mimic human walking, grasping, balancing, and other behaviors is a deep exploration of cognitive science and biological principles. Due to the existing prediction lag problem, an error compensation mechanism that integrate...
A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A sal...
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