In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the p...In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the pendulum arms in the upright position and the car to reach the equilibrium position.Grey Wolf Optimization-based Linear Quadratic Regulator(GWO-LQR)and GWO-based Fuzzy LQR(FLQR)control algorithms are used in the control process.To improve the performance of the LQR and FLQR methods,the optimum values of the coefficients corresponding to the foot points of the membership functions are determined by the GWO algorithm.Both a graphic and a numerical analysis of the outcomes are provided.In the comparative analysis,it is observed that the GWO-based FLQR method reduces the settling time by 22.58% and the maximum peak value by 18.2% when evaluated in terms of the angular response of the pendulum arm.Furthermore,this approach outperformed comparable research in the literature with a settling time of 2.4 s.These findings demonstrate that the suggested GWO-based FLQR controlmethod outperforms existing literature in terms of the time required for the pendulum arm to reach equilibrium.展开更多
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 sy...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. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions.The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method.展开更多
On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine...On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.展开更多
A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant dela...A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant delay,which can be potentially applied to vision-based control systems.The control scheme is composed of a state prediction and a discrete predictor-based controller.The state prediction is used to compensate for the effect of the sensor-to-controller delay,and the system can be stabilized by the discrete predictor-based controller.Moreover,it is shown that the control scheme is also robust with respect to slight message rejections.Finally,the main theoretical results are illustrated by simulation results and experimental results based on a networked visual servo inverted pendulum system.展开更多
As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing ...As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be designed.The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.展开更多
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit...The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.展开更多
The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is unstable without control. The process is non linear and unstable with o...The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is unstable without control. The process is non linear and unstable with one input signal and several output signals. It is hence obvious that feedback of the state of the pendulum is needed to stabilize the pendulum. The aim of the study is to stabilize the pendulum such that the position of the carriage on the track is controlled quickly and accurately. The problem involves an arm, able to move horizontally in angular motion, and a pendulum, hinged to the arm at the bottom of its length such that the pendulum can move in the same plane as the arm. The conventional PID controller can be used for virtually any process condition. This makes elimination the offset of the proportional mode possible and still provides fast response. In this paper, we have modelled the system and studied conventional controller and LQR controller. It is observed that the LQR method works better compared to conventional controller.展开更多
The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We...The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We propose that in the neighborhood of the desired stable hybrid limit cycle,the local dynamical behavior of a hybrid system can be expressed by a set of phase coordinates and transverse coordinates.Under some acceptable assumptions,the hybrid averaging theorem is applied on the SLIP non-integrable dynamics to simplify the controller design.Using the inherent symmetry of SLIP dynamics,a control Lyapunov function-based hybrid averaging controller is developed to ensure the exponential stability of the desired gait orbit.This results in a set of linear constraints on the control signal,which can be readily solved by a quadratic programming optimization.Furthermore,a novel method is introduced to improve the robustness against unknown disturbances through the online constraint adjustment.The proposed controller is evaluated in various simulations,demonstrating the SLIP hopping on diverse terrains,including flat,sin-wave,and unregular terrains.The performance of the approach is also validated on a quadruped robot SCIT Dog for generating dynamic gaits such as pronking.展开更多
In this paper, a new intelligent control method is introduced, which combines stipulations, optimal control method with knowledge based control. Using nonlinear programming method and expert experience for the compli...In this paper, a new intelligent control method is introduced, which combines stipulations, optimal control method with knowledge based control. Using nonlinear programming method and expert experience for the complicated nonlinear object, the good control result can be achieved. The effect of this method is shown by a simulation of three stage inverted pendulums.展开更多
The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance ...The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system successfully. The result shows, however, that LQR produced better response compared to a LQG strategy.展开更多
In this paper, a practical analysis of stability by simulation for the effect of incorporating a Kalman estimator in the control loop of the inverted pendulum with a neurocontroller is presented. The neurocontroller i...In this paper, a practical analysis of stability by simulation for the effect of incorporating a Kalman estimator in the control loop of the inverted pendulum with a neurocontroller is presented. The neurocontroller is calculated by approximate optimal control, without considering the Kalman estimator in the loop following the Theorem of the separation. The results are compared with a time-varying linear controller, which in noiseless conditions in the state or in the measurement has an acceptable performance, but when it is under noise conditions its operation closes into a state space range more limited than the one proposed here.展开更多
This paper presents a combined control and modulation technique to enhance the power quality(PQ)and power reliability(PR)of a hybrid energy system(HES)through a single-phase 11-level cascaded H-bridge inverter(11-CHBI...This paper presents a combined control and modulation technique to enhance the power quality(PQ)and power reliability(PR)of a hybrid energy system(HES)through a single-phase 11-level cascaded H-bridge inverter(11-CHBI).The controller and inverter specifically regulate the HES and meet the load demand.To track optimum power,a Modified Perturb and Observe(MP&O)technique is used for HES.Ultra-capacitor(UCAP)based energy storage device and a novel current control strategy are proposed to provide additional active power support during both voltage sag and swell conditions.For an improved PQ and PR,a two-way current control strategy such as the main controller(MC)and auxiliary controller(AC)is suggested for the 11-CHBI operation.MC is used to regulate the active current component through the fuzzy controller(FC),and AC is used to regulate the dc-link voltage of CHBI through a neural network-based PI controller(ANN-PI).By tracking the reference signals fromMC and AC,a novel hybrid pulse widthmodulation(HPWM)technique is proposed for the 11-CHBI operation.To justify and analyze the MATLAB/Simulink software-based designed model,the robust controller performance is tested through numerous steady-state and dynamic state case studies.展开更多
In recent days, the multilevel inverter technology is widely applied to domestic and industrial applications for medium voltage conversion. But, the power quality issues of the multilevel inverter limit the usage of m...In recent days, the multilevel inverter technology is widely applied to domestic and industrial applications for medium voltage conversion. But, the power quality issues of the multilevel inverter limit the usage of much sensitive equipment like medical instruments. The lower distortion level of the output voltage and current can generate a quality sinusoidal output voltage in inverters and they can be used for many applications. The harmonics can cause major problems in equipments due to the nonlinear loads connected with the power system. So, it is necessary to minimize the losses to raise its overall efficiency. In this paper, a new topology of seven level asymmetrical cascaded H-bridge multilevel inverter with a Fuzzy logic controller had been implemented to reduce the Total Harmonic Distortion (THD) and to improve the overall performance of the inverter. The proposed model is well suited for use with a solar PV application. In this topology, only six IGBT switches are used with three different voltage ratings of PV modules (1:2:4). The lower number of semiconductor switches leads to minimizing overall di/dt ratings and voltage stress on each switches and switching losses. The gate pulses generated by Sinusoidal Pulse Width Modulation (SPWM) technique with a Fuzzy logic controller are also introduced. A buck-boost converter is used to maintain the constant PV voltage level integrated by an MPPT technique followed by Perturb and Observer algorithm is also implemented. The MPPT is used to harness the maximum power of solar radiations under its various climatic conditions. The new topology is evaluated by a Matlab/Simulink model and compared with a hardware model. The results proved that the THD achieved by this topology is 1.66% and realized that it meets the IEEE harmonic standards.展开更多
The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability con...The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.展开更多
This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLAD...This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.展开更多
This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,de...This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.展开更多
We designed an improved direct-current capacitor voltage balancing control model predictive control(MPC)for single-phase cascaded H-bridge multilevel photovoltaic(PV)inverters.Compared with conventional voltage balanc...We designed an improved direct-current capacitor voltage balancing control model predictive control(MPC)for single-phase cascaded H-bridge multilevel photovoltaic(PV)inverters.Compared with conventional voltage balanc-ing control methods,the method proposed could make the PV strings of each submodule operate at their maximum power point by independent capacitor voltage control.Besides,the predicted and reference value of the grid-connected current was obtained according to the maximum power output of the maximum power point tracking.A cost function was con-structed to achieve the high-precision grid-connected control of the CHB inverter.Finally,the effectiveness of the proposed control method was verified through a semi-physical simulation platform with three submodules.展开更多
The cascaded H-bridge(CHB)multilevel inverter has become one of the most widely used PV inverter topologies due to its high voltage processing capability and high quality output power.Grid-connected PV system due to e...The cascaded H-bridge(CHB)multilevel inverter has become one of the most widely used PV inverter topologies due to its high voltage processing capability and high quality output power.Grid-connected PV system due to external conditions such as PV panel shading,PV component damage,can lead to PV output power imbalance,triggering the system over-modulation phenomenon,which in turn leads to grid-connected current waveform distortion.To this end,an improved power balance control strategy is proposed in this paper.Firstly,according to the different modulation ratios of each H-bridge module,a suitable harmonic injection method is used to keep the peak value of the modulating waveform always at 1;then an inverse triangular trapezoidal waveform is injected to optimize the modulating waveform,which further improves the output voltage waveform,reduces the THD value of the grid-connected currents,and maintains the stability of power inside the CHB system.Purpose.Simulation verifies the effectiveness and feasibility of this power balance control strategy.展开更多
In this study, a real-time control of the cart inverted pendulum system was developed using Mamdani type Fuzzy Logic Controller. Swing-up and stabilization of the inverted pendulum were implemented directly in a Fuzzy...In this study, a real-time control of the cart inverted pendulum system was developed using Mamdani type Fuzzy Logic Controller. Swing-up and stabilization of the inverted pendulum were implemented directly in a Fuzzy Logic Controller. The fuzzy logic controller was designed in the Matlab-Simulink environment and applied into in a Quasar controller board. Swing-up algorithm brings the pendulum near to its inverted position in 5 seconds from downward position. External forces were applied on the inverted pendulum to test the robustness of the fuzzy logic controller under internal as well as external disturbances. The inverted pendulum system showed an acceptable robustness to the external and internal disturbances.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
文摘In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the pendulum arms in the upright position and the car to reach the equilibrium position.Grey Wolf Optimization-based Linear Quadratic Regulator(GWO-LQR)and GWO-based Fuzzy LQR(FLQR)control algorithms are used in the control process.To improve the performance of the LQR and FLQR methods,the optimum values of the coefficients corresponding to the foot points of the membership functions are determined by the GWO algorithm.Both a graphic and a numerical analysis of the outcomes are provided.In the comparative analysis,it is observed that the GWO-based FLQR method reduces the settling time by 22.58% and the maximum peak value by 18.2% when evaluated in terms of the angular response of the pendulum arm.Furthermore,this approach outperformed comparable research in the literature with a settling time of 2.4 s.These findings demonstrate that the suggested GWO-based FLQR controlmethod outperforms existing literature in terms of the time required for the pendulum arm to reach equilibrium.
文摘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. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions.The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method.
文摘On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.
基金supported by the China Scholarship Council(CSC)the National Natural Science Foundation of China(92067106)。
文摘A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant delay,which can be potentially applied to vision-based control systems.The control scheme is composed of a state prediction and a discrete predictor-based controller.The state prediction is used to compensate for the effect of the sensor-to-controller delay,and the system can be stabilized by the discrete predictor-based controller.Moreover,it is shown that the control scheme is also robust with respect to slight message rejections.Finally,the main theoretical results are illustrated by simulation results and experimental results based on a networked visual servo inverted pendulum system.
基金supported by the National Natural Science Foundation of China(61873079)。
文摘As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be designed.The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.
文摘The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
文摘The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is unstable without control. The process is non linear and unstable with one input signal and several output signals. It is hence obvious that feedback of the state of the pendulum is needed to stabilize the pendulum. The aim of the study is to stabilize the pendulum such that the position of the carriage on the track is controlled quickly and accurately. The problem involves an arm, able to move horizontally in angular motion, and a pendulum, hinged to the arm at the bottom of its length such that the pendulum can move in the same plane as the arm. The conventional PID controller can be used for virtually any process condition. This makes elimination the offset of the proportional mode possible and still provides fast response. In this paper, we have modelled the system and studied conventional controller and LQR controller. It is observed that the LQR method works better compared to conventional controller.
基金supported by HeilongJiang Touyan Innovation Team Program.
文摘The Spring-Loaded Inverted Pendulum(SLIP)has been regarded as a canonical model for hopping and running dynamics of legged robots.This paper presents a novel control of the actuated-SLIP hopping on unknown terrains.We propose that in the neighborhood of the desired stable hybrid limit cycle,the local dynamical behavior of a hybrid system can be expressed by a set of phase coordinates and transverse coordinates.Under some acceptable assumptions,the hybrid averaging theorem is applied on the SLIP non-integrable dynamics to simplify the controller design.Using the inherent symmetry of SLIP dynamics,a control Lyapunov function-based hybrid averaging controller is developed to ensure the exponential stability of the desired gait orbit.This results in a set of linear constraints on the control signal,which can be readily solved by a quadratic programming optimization.Furthermore,a novel method is introduced to improve the robustness against unknown disturbances through the online constraint adjustment.The proposed controller is evaluated in various simulations,demonstrating the SLIP hopping on diverse terrains,including flat,sin-wave,and unregular terrains.The performance of the approach is also validated on a quadruped robot SCIT Dog for generating dynamic gaits such as pronking.
文摘In this paper, a new intelligent control method is introduced, which combines stipulations, optimal control method with knowledge based control. Using nonlinear programming method and expert experience for the complicated nonlinear object, the good control result can be achieved. The effect of this method is shown by a simulation of three stage inverted pendulums.
文摘The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system successfully. The result shows, however, that LQR produced better response compared to a LQG strategy.
文摘In this paper, a practical analysis of stability by simulation for the effect of incorporating a Kalman estimator in the control loop of the inverted pendulum with a neurocontroller is presented. The neurocontroller is calculated by approximate optimal control, without considering the Kalman estimator in the loop following the Theorem of the separation. The results are compared with a time-varying linear controller, which in noiseless conditions in the state or in the measurement has an acceptable performance, but when it is under noise conditions its operation closes into a state space range more limited than the one proposed here.
基金Assistance provided by Council of scientific and industrial research(CSIR),Government of India,under the acknowledgment number 143460/2K19/1(File:09/969(0013)/2020-EMR-I)and Siksha O Anusandhan(Deemed to be University).
文摘This paper presents a combined control and modulation technique to enhance the power quality(PQ)and power reliability(PR)of a hybrid energy system(HES)through a single-phase 11-level cascaded H-bridge inverter(11-CHBI).The controller and inverter specifically regulate the HES and meet the load demand.To track optimum power,a Modified Perturb and Observe(MP&O)technique is used for HES.Ultra-capacitor(UCAP)based energy storage device and a novel current control strategy are proposed to provide additional active power support during both voltage sag and swell conditions.For an improved PQ and PR,a two-way current control strategy such as the main controller(MC)and auxiliary controller(AC)is suggested for the 11-CHBI operation.MC is used to regulate the active current component through the fuzzy controller(FC),and AC is used to regulate the dc-link voltage of CHBI through a neural network-based PI controller(ANN-PI).By tracking the reference signals fromMC and AC,a novel hybrid pulse widthmodulation(HPWM)technique is proposed for the 11-CHBI operation.To justify and analyze the MATLAB/Simulink software-based designed model,the robust controller performance is tested through numerous steady-state and dynamic state case studies.
文摘In recent days, the multilevel inverter technology is widely applied to domestic and industrial applications for medium voltage conversion. But, the power quality issues of the multilevel inverter limit the usage of much sensitive equipment like medical instruments. The lower distortion level of the output voltage and current can generate a quality sinusoidal output voltage in inverters and they can be used for many applications. The harmonics can cause major problems in equipments due to the nonlinear loads connected with the power system. So, it is necessary to minimize the losses to raise its overall efficiency. In this paper, a new topology of seven level asymmetrical cascaded H-bridge multilevel inverter with a Fuzzy logic controller had been implemented to reduce the Total Harmonic Distortion (THD) and to improve the overall performance of the inverter. The proposed model is well suited for use with a solar PV application. In this topology, only six IGBT switches are used with three different voltage ratings of PV modules (1:2:4). The lower number of semiconductor switches leads to minimizing overall di/dt ratings and voltage stress on each switches and switching losses. The gate pulses generated by Sinusoidal Pulse Width Modulation (SPWM) technique with a Fuzzy logic controller are also introduced. A buck-boost converter is used to maintain the constant PV voltage level integrated by an MPPT technique followed by Perturb and Observer algorithm is also implemented. The MPPT is used to harness the maximum power of solar radiations under its various climatic conditions. The new topology is evaluated by a Matlab/Simulink model and compared with a hardware model. The results proved that the THD achieved by this topology is 1.66% and realized that it meets the IEEE harmonic standards.
文摘The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.
基金supported by the National Natural Science Foundation of China(61836001).
文摘This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.
基金supported by the 2021 Higher Education Teaching Reform Research Project of SEAC(No.221057)2021 Ministry of Education Collaborative Education Project(No.202102646007)2022 Guizhou Province Gold Course Construction Project.
文摘This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.
基金Research on Control Methods and Fault Tolerance of Multilevel Electronic Transformers for PV Access(Project number:042300034204)Research on Open-Circuit Fault Diagnosis and Seamless Fault-Tolerant Control of Multiple Devices in Modular Multilevel Digital Power Amplifiers(Project number:202203021212210)Research on Key Technologies and Demonstrations of Low-Voltage DC Power Electronic Converters Based on SiC Devices Access(Project number:202102060301012)。
文摘We designed an improved direct-current capacitor voltage balancing control model predictive control(MPC)for single-phase cascaded H-bridge multilevel photovoltaic(PV)inverters.Compared with conventional voltage balanc-ing control methods,the method proposed could make the PV strings of each submodule operate at their maximum power point by independent capacitor voltage control.Besides,the predicted and reference value of the grid-connected current was obtained according to the maximum power output of the maximum power point tracking.A cost function was con-structed to achieve the high-precision grid-connected control of the CHB inverter.Finally,the effectiveness of the proposed control method was verified through a semi-physical simulation platform with three submodules.
基金supported by the National Natural Science Foundation of China,Regional Science Foundation Project,52367009,Study on Bow Net Dynamics Modeling and Coupling Smoothness of High speed AC Rigid Network in the Long Tunnel Section of Sichuan Tibet Railway.
文摘The cascaded H-bridge(CHB)multilevel inverter has become one of the most widely used PV inverter topologies due to its high voltage processing capability and high quality output power.Grid-connected PV system due to external conditions such as PV panel shading,PV component damage,can lead to PV output power imbalance,triggering the system over-modulation phenomenon,which in turn leads to grid-connected current waveform distortion.To this end,an improved power balance control strategy is proposed in this paper.Firstly,according to the different modulation ratios of each H-bridge module,a suitable harmonic injection method is used to keep the peak value of the modulating waveform always at 1;then an inverse triangular trapezoidal waveform is injected to optimize the modulating waveform,which further improves the output voltage waveform,reduces the THD value of the grid-connected currents,and maintains the stability of power inside the CHB system.Purpose.Simulation verifies the effectiveness and feasibility of this power balance control strategy.
文摘In this study, a real-time control of the cart inverted pendulum system was developed using Mamdani type Fuzzy Logic Controller. Swing-up and stabilization of the inverted pendulum were implemented directly in a Fuzzy Logic Controller. The fuzzy logic controller was designed in the Matlab-Simulink environment and applied into in a Quasar controller board. Swing-up algorithm brings the pendulum near to its inverted position in 5 seconds from downward position. External forces were applied on the inverted pendulum to test the robustness of the fuzzy logic controller under internal as well as external disturbances. The inverted pendulum system showed an acceptable robustness to the external and internal disturbances.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
