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    Wyświetlanie 1-10 z 10
    Tytuł:
    Electro pneumatic control system for inverted pendulum
    Autorzy:
    Popławski, Krzysztof
    Ambroziak, Leszek
    Kondratiuk, Mirosław
    Powiązania:
    https://bibliotekanauki.pl/articles/386941.pdf
    Data publikacji:
    2020
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    inverted pendulum
    pneumatic actuator
    inverted pendulum control
    encoder
    stabilization
    Opis:
    The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendu-lum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as addi-tional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.
    Źródło:
    Acta Mechanica et Automatica; 2020, 14, 2; 91-97
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of two wheel mobile manipulator on a rough terrain using reaction torque observer feedback
    Autorzy:
    Abeygunawardhana, P. K. W.
    Murakami, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/384531.pdf
    Data publikacji:
    2010
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    two-wheel mobile manipulator
    inverted pendulum control
    environment interaction
    reaction torqueo
    compliance control
    Opis:
    The mobile manipulator has the potential to become an efficient industrial robot due to its mobility and dexterity. Moreover, it has expanded the operational area of the mobile manipulator due to its ability to work in a limited space. However, adaptability to unknown environments has still not been developed to date. Therefore, adaptation of the mobile manipulator for unknown environments especially for rough/irregular terrain is discussed in this paper. Information about the environment, a key factor when aiming for compliance with an unknown and/or unstructured environment, was collected using a reaction torque observer. In order to adapt to the environment, compliance control was applied to the mobile manipulator. In this paper, we present a novel control strategy we have developed that can deal with unknown environments through the effective use of inverted pendulum control. Simulation and experiments were carried out to ensure the validity of the proposed method. The method could be confirmed as effective according to the results obtained.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 56-67
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Improved fuzzy feedback linearization and Sinswat-transformation control of inverted pendulum
    Autorzy:
    Chien, T. L.
    Chen, C. C.
    Chen, Y. C.
    Wu, S. L.
    Powiązania:
    https://bibliotekanauki.pl/articles/970222.pdf
    Data publikacji:
    2010
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    fuzzy logic control
    almost disturbance decoupling
    feedback linearization approach
    composite Lyapunov approach
    inverted pendulum control system
    Opis:
    This paper studies the output tracking and almost disturbance decoupling problem of nonlinear control systems with uncertainties via fuzzy logic control and feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system enjoys for any initial condition and bounded tracking signal the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by increasing some adjustable parameters. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. One example, which cannot be solved by the approach from the first paper (Marino et al., 1989) on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by virtue of our approach. In order to demonstrate the practical applicability, the paper takes up the study of an inverted pendulum control system.
    Źródło:
    Control and Cybernetics; 2010, 39, 4; 1069-1093
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Inertial Sensors in the Stabilization System of the Balancing Vehicle
    Autorzy:
    Chudzik, Stanisław
    Powiązania:
    https://bibliotekanauki.pl/articles/1844638.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    inverted pendulum
    MEMS
    sensor fusion
    Kalman filter
    control
    applications
    Opis:
    The article presents the possibilities of using popular MEMS inertial sensors in the object tilt angle estimation system and in the system for stabilizing the vertical position of the balancing robot. Two research models were built to conduct the experiment. The models use microcontroller development board of the STM32F3 series with the Cortex-M4 core, equipped with a three-axis accelerometer, magnetometer and gyroscope. To determine the accuracy of the angle estimation, comparative tests with a pulse encoder were performed.
    Źródło:
    International Journal of Electronics and Telecommunications; 2021, 67, 2; 241-246
    2300-1933
    Pojawia się w:
    International Journal of Electronics and Telecommunications
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An integrated laboratory for modelling, simulation, digital signal processing and control
    Zintegrowane stanowiska laboratoryjne do modelowania, symulacji, cyfrowego przetwarzania sygnałów i sterowania
    Autorzy:
    Ostanin, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/341157.pdf
    Data publikacji:
    2002
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    symulacja
    algorytmy sterowania
    wahadło odwrócone
    simulation
    control algorithms
    inverted pendulum
    Opis:
    In this study, we discuss how engineering problems are defined in the classroom versus how such problems are formulated in the real-world. We present some result on integrated environment that allows students to bridges gap between software modeling, simulation and testing of actual systems through a common visual programming interface.
    W pracy dyskutujemy o tym jak problemy inżynierskie są definiowane w uczelni, a jak to się przedstawia w prawdziwym świecie. Przedstawione zostały niektóre wyniki badań, otrzymanych na zintegrowanym otoczeniu MATLAB/SIMULINK/dSPACE, który pozwala studentom do nawiązania mostów między oprogramowaniem do modelowania, symulacji i testowania faktycznych systemów przez wspólne wzrokowe połączenie interfejsowe.
    Źródło:
    Zeszyty Naukowe Politechniki Białostockiej. Informatyka; 2002, Z.1; 163-180
    1644-0331
    Pojawia się w:
    Zeszyty Naukowe Politechniki Białostockiej. Informatyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust LFT-LPV H∞ control of an underactuated inverted pendulum on a cart with optimal weighting functions selection by ga and es
    Autorzy:
    Hasseni, Seif-El-Islam
    Abdoul, Latifa
    Powiązania:
    https://bibliotekanauki.pl/articles/1837922.pdf
    Data publikacji:
    2020
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    inverted pendulum on a cart
    robust control
    underactuated systems
    linear parameter varying systems
    H∞
    Opis:
    This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measure-ment noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is devel-oped. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions’ optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signals, as well as the parametric uncertainties.
    Źródło:
    Acta Mechanica et Automatica; 2020, 14, 4; 186-197
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    GPFIS - control : a genetic fuzzy system for control tasks
    Autorzy:
    Koshiyama, A. S.
    Vellasco, M. M. B. R.
    Tanscheit, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/91648.pdf
    Data publikacji:
    2014
    Wydawca:
    Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
    Tematy:
    genetic fuzzy controler
    GFC
    genetic programming fuzzy inference system for control
    GPFISControl
    multigene genetic programming
    inverted pendulum
    Opis:
    This work presents a Genetic Fuzzy Controller (GFC), called Genetic Programming Fuzzy Inference System for Control tasks (GPFISControl). It is based on MultiGene Genetic Programming, a variant of canonical Genetic Programming. The main characteristics and concepts of this approach are described, as well as its distinctions from other GFCs. Two benchmarks application of GPFISControl are considered: the CartCentering Problem and the Inverted Pendulum. In both cases results demonstrate the superiority and potentialities of GPFISControl in relation to other GFCs found in the literature.
    Źródło:
    Journal of Artificial Intelligence and Soft Computing Research; 2014, 4, 3; 167-179
    2083-2567
    2449-6499
    Pojawia się w:
    Journal of Artificial Intelligence and Soft Computing Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An adaptive particle swarm optimization algorithm for robust trajectory tracking of a class of under actuated system
    Autorzy:
    Kumar, V. E.
    Jerome, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/141105.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    inverted pendulum
    LQR controller
    particle swarm optimization (PSO)
    genetic algorithm
    adaptive inertia weight factor
    state feedback control
    Opis:
    This paper presents an adaptive particle swarm optimization (APSO) based LQR controller for optimal tuning of state feedback controller gains for a class of under actuated system (Inverted pendulum). Normally, the weights of LQR controller are chosen based on trial and error approach to obtain the optimum controller gains, but it is often cumbersome and tedious to tune the controller gains via trial and error method. To address this problem, an intelligent approach employing adaptive PSO (APSO) for optimum tuning of LQR is proposed. In this approach, an adaptive inertia weight factor (AIWF), which adjusts the inertia weight according to the success rate of the particles, is employed to not only speed up the search process but also to increase the accuracy of the algorithm towards obtaining the optimum controller gain. The performance of the proposed approach is tested on a bench mark inverted pendulum system, and the experimental results of APSO are compared with that of the conventional PSO and GA. Experimental results prove that the proposed algorithm remarkably improves the convergence speed and precision of PSO in obtaining the robust trajectory tracking of inverted pendulum.
    Źródło:
    Archives of Electrical Engineering; 2014, 63, 3; 345-365
    1427-4221
    2300-2506
    Pojawia się w:
    Archives of Electrical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modeling the interaction between two-wheeled self-balancing vehicle and its rider
    Autorzy:
    Ciężkowski, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/265751.pdf
    Data publikacji:
    2013
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    interakcja człowiek-maszyna
    system sterowania
    model stawu skokowego
    regulator liniowo-kwadratowy
    wahadło odwrócone
    human-machine interaction
    system control
    ankle joint model
    LQR
    inverted pendulum
    Opis:
    The paper presents a modeling method and mathematical description of a two-wheeled self-balancing vehicle and its rider. A model of the rider that was used contains a model of the ankle joint, so we could determine the interaction between the rider and the vehicle. The paper presents results of computer simulations , which show the fundamental processes during riding, such as acceleration and braking.
    Źródło:
    International Journal of Applied Mechanics and Engineering; 2013, 18, 2; 341-351
    1734-4492
    2353-9003
    Pojawia się w:
    International Journal of Applied Mechanics and Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Computationally efficient nonlinear model predictive controller using parallel particle swarm optimization
    Autorzy:
    Diwan, Supriya P.
    Deshpande, Shraddha S.
    Powiązania:
    https://bibliotekanauki.pl/articles/2173694.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    nonlinear model predictive control
    particle swarm optimization
    PSO
    fast dynamic systems
    rotary inverted pendulum
    divide approach
    conquer approach
    kontrola predykcyjna modelu nieliniowa
    optymalizacja roju cząstek
    system dynamiczny szybki
    wahadło obrotowe odwrócone
    Opis:
    As nonlinear optimization techniques are computationally expensive, their usage in the real-time era is constrained. So this is the main challenge for researchers to develop a fast algorithm that is used in real-time computations. This work proposes a fast nonlinear model predictive control approach based on particle swarm optimization for nonlinear optimization with constraints. The suggested algorithm divide and conquer technique improves computing speed and disturbance rejection capability, demonstrating its suitability for real-time applications. The performance of this approach under constraints is validated using a highly nonlinear fast and dynamic real-time inverted pendulum system. The solution presented through work is computationally feasible for smaller sampling times and it gives promising results compared to the state of art PSO algorithm
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 4; art. no. e140696
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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