NDLI: Manual control of inverted pendulum with different input from joystick

Content Provider	IEEE Xplore Digital Library
Author	Jianning Hua Yujie Cui Pu Shi Fangping Yang Xuezhu Wang
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Robot., SIA, Shenyang, China (Fangping Yang; Xuezhu Wang) \|\| Inst. of Control Eng., Northeastern Univ. at Qinhuangdao, Qinhuangdao, China (Jianning Hua; Yujie Cui; Pu Shi)
Abstract	The cognitive behavior of human operators in human-machine system has long served as a compelling target for control theory. For this purpose, extensive research effort has been focused on the manual control of inverted pendulum, from which cognitive and motor behavior can be obtained. However, much less attention has been paid to the effect on this experimental platform with different input, e.g. force, velocity, and position input. With the intention to provide more interactive form between human operators and electromechanical systems, this manuscript gives a comparative study on a virtual pendulum system which is built based on OpenGL when different commands are provided with a joystick. All forms of dynamical models have been obtained though mathematical manipulation. In order to obtain more realistic effect, dynamical models are solved with Runge-kutta method. A joystick interface enables operators to control the pendulum manually, providing a fun experience. This study establishes the foundation for further research on cognitive behavior of human operators in human-machine interaction systems and neural control systems.
Starting Page	1
Ending Page	6
File Size	863208
Page Count	6
File Format	PDF
ISBN	9781467357678
e-ISBN	9781467357692
DOI	10.1109/ASCC.2013.6606406
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-23
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	human-machine interaction Force Velocity control inverted pendulum Human factors Runge-kutta method Mathematical model Acceleration manual control Equations Robots
Content Type	Text
Resource Type	Article

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