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The main objective of this paper is to design a state feedback controller for stabilizing and tracking control of self-erecting inverted pendulum employing intelligent method using particle swarm optimization (PSO). This is motivated by the fact that one has to face trial and error approach in conventional feedback control design by pole placement method or linear quadratic regulator (LQR) method...
In recent years, studies about control methods for complex machines and robots have been developed rapidly. Biped robots are often treated as inverted pendulums for its simple structure. But modeling of robot and other complex machines is a time-consuming procedure. A new method of modeling and simulation of robot based on SimMechanics is proposed in this paper. Physical modeling, parameter setting...
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