NDLI: Practical design and control of a novel inverted pendulum

Content Provider	IEEE Xplore Digital Library
Author	Yu-Sheng Lu Hua-Hsu Chiu Shu-Fen Lien
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, National Yunlin University of Science and Technology, 123, University Road, Section 3, Touliu, Yunlin 640, Taiwan (Hua-Hsu Chiu) \|\| Department of Mechatronic Technology, National Taiwan Normal University, 162, He-ping East Rd., Sec. 1, Taipei 106, Taiwan (Yu-Sheng Lu) \|\| MingDao University, ChangHua 523, Taiwan (Shu-Fen Lien)
Abstract	This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange's equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.
Starting Page	235
Ending Page	239
File Size	2469345
Page Count	5
File Format	PDF
ISBN	9780956715708
DOI	10.1109/ICMIC.2011.5973707
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Electronic mail Mathematical model Mechanical systems Joints Nonlinear systems Equations
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

The design for the controller of the linear inverted pendulum based on backstepping

A combination of backstepping and the feedback linearization for the controller of inverted pendulum

Low order decentralized stabilizing controller design for a mobile inverted pendulum robot

Analysis and Design of Robust Feedback Control Systems for a Nonlinear Two-Wheel Inverted Pendulum System

An Estimation and Compensation of the Friction in an Inverted Pendulum

Application of sliding mode control to design of the inverted pendulum control system

An off-line fuzzy backstepping controller for rotary inverted pendulum system

PD backstepping controller for stabilization of wheeled inverted pendulum

P·SPR·D control of passive nonlinear systems and inverted pendulum

Practical design and control of a novel inverted pendulum

Similar Documents

The design for the controller of the linear inverted pendulum based on backstepping

A combination of backstepping and the feedback linearization for the controller of inverted pendulum

Low order decentralized stabilizing controller design for a mobile inverted pendulum robot

Analysis and Design of Robust Feedback Control Systems for a Nonlinear Two-Wheel Inverted Pendulum System

An Estimation and Compensation of the Friction in an Inverted Pendulum

Application of sliding mode control to design of the inverted pendulum control system

An off-line fuzzy backstepping controller for rotary inverted pendulum system

PD backstepping controller for stabilization of wheeled inverted pendulum

P·SPR·D control of passive nonlinear systems and inverted pendulum

Practical design and control of a novel inverted pendulum