The inverted pendulum in control theory and robotics : from theory to new innovations / edited by Olfa Boubaker and Rafael Iriarte.

Format:

Book

Contributor:

Boubaker, Olfa, editor.

Iriarte, Rafael, editor.

Series:

IET control, robotics and sensors series ; 111.

IET control, Robotics and Sensors Series ; 111

Language:

English

Subjects (All):

Estimation theory.

Linear systems.

Nonlinear control theory.

Physical Description:

1 online resource (409 pages) : illustrations, tables, graphs.

Place of Publication:

Herts, England : The Institution of Engineering and Technology, 2017.

Summary:

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 also an area of active study, with many new innovations and applications - for example the problem is solved in the technology of the Segway, a self-balancing transportation device. This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum. After an introduction to the system and open/current problems, the book covers the topic in four parts: applications of robust state estimation and control to pendulum-cart systems; controllers for under-actuated mechanical systems; nonlinear controllers for mobile inverted pendulum systems; and robust controllers based observers via Takagi-Sugeno or linear approaches.

Contents:

The inverted pendulum: history and survey of open and current problems in control theory and robotics / Olfa Boubaker

Part 1. Robust state estimation and control: application to pendulum-cart systems. State estimation and parameter identification via sliding-mode techniques: penduluma-cart system / Diego Gutiérrez and Héctor Ríos

Higher order sliding-mode stabilization of inverted cart-pendulum / Jesus Mendoza-Avila and Ismael Castillo

Stabilization and tracking control of the inverted pendulumon a cart via a modified PSO fractional order PID controller / Haifa Mehdi and Olfa Boubaker

Part II. Controllers for underactuated mechanical systems: Model-free control of the inertia wheel inverted pendulum with real-time experiments / Ahmed Chemori

Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum / Luis T. Aguilar and Rafael Iriarte

Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems / Juan Eduardo Velázquez-Velázquez, Rosalba Galván-Guerra, and Rafael Iriarte

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system / Jawhar Ghommam, Ahmed Chemori, and Faiçal Mnif

Part III. Nonlinear controllers for mobile inverted pendulum systems: Advances in robust control of mobile wheeled inverted pendulum / Jian Huang and Toshio Fukuda

Case studies on non-linear control theory of the inverted pendulum / Xu Xu, Hongwei Zhang, and Giuseppe Carbone

Bipedal-double-pendulum walking robot control using recurrent hybrid neural network / Şahin Yildirim

Part IV. Robust controllers-based observers via Takagi-Sugenoor linear approaches: A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum / Souad Bezzaoucha, Holger Voos, and Mohamed Darouach

Part IV. Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer / Slim Dhahri, Ali Ben Brahim, Fayçal Ben Hmida, and Anis Sellami

LMI-based control design for balancing and attitude stabilization of inverted pendulums / Magdi S. Mahmoud.

Notes:

Includes bibliographical references at the end of each chapters and index.

Description based on online resource; title from PDF title page (EBC, viewed December 4, 2017).

ISBN:

1-83724-858-3

1-5231-1289-1

1-78561-321-9