The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The authors consider the control of an underactuated mechanical system: Pendubot, which has four separated equilibrium points. A unified controller is proposed to stabilise the system at the four equilibrium points. Moreover, the proposed unified control can bring the underactuated link to ideal homoclinic orbits, which cannot be achieved by existing approaches. Simulation results verify the effectiveness...
A practical nonlinear model predictive control (MPC) approach is presented for fast response systems. To this end, a nonlinear model of the system is first developed and linearised along a desired trajectory at each instant to obtain as many linear models as prediction horizon. The state variables are observed using an unscented Kalman filter (UKF). The MPC formulation is thus resulted in a linear...
Experimental results from nonlinear parametric identification and control of balance in a minimum phase Acrobot is presented. The Acrobot's balancing mechanism comprises a concave downward-swinging body whose center of gravity lies below the hip joint. An optimal body angle that renders the linearized system dynamics minimum phase, hence theoretically energy conservative, is interpolated from estimated...
This paper introduces a high-speed motion control technique for inverted pendulums using zero dynamics. Inverted pendulums are self-regulated systems that simulate the motion of a child swinging up an umbrella or stick. The controller design for various pendulums has been widely challenged since the 1970s. Recently, machines using this principle are developed for human riding. Many bipedal robots...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.