Current development on using Rotary Inverted Pendulum as a benchmark for testing linear and nonlinear control algorithms
Abstract Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is
inherently nonlinear and unstable. For decades, it has been widely used as an experimental …
inherently nonlinear and unstable. For decades, it has been widely used as an experimental …
[图书][B] Attractive ellipsoids in robust control
The material discussed in this monograph is a result of our research program at the Mexican
Center for Advanced Studies and Research (CINVESTAV, Mexico City, Mexico) and the …
Center for Advanced Studies and Research (CINVESTAV, Mexico City, Mexico) and the …
Linear active disturbance rejection control of underactuated systems: The case of the Furuta pendulum
M Ramírez-Neria, H Sira-Ramírez… - ISA transactions, 2014 - Elsevier
Abstract An Active Disturbance Rejection Control (ADRC) scheme is proposed for a
trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum …
trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum …
[图书][B] Control and estimation of dynamical nonlinear and partial differential equation systems: Theory and Applications
Robotic and mechatronic systems, autonomous vehicles, electric power systems and smart
grids, as well as manufacturing and industrial production systems can exhibit complex …
grids, as well as manufacturing and industrial production systems can exhibit complex …
[图书][B] Motion control of underactuated mechanical systems
J Moreno-Valenzuela, C Aguilar-Avelar - 2018 - Springer
The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …
and motion planning of many types of mechanical systems, such as industrial manipulators …
Nonlinear optimal control for multi‐DOF robotic manipulators with flexible joints
G Rigatos, M Abbaszadeh - Optimal Control Applications and …, 2021 - Wiley Online Library
A main problem in the control of flexible‐joint robots and in the precise positioning of their
end‐effector, is synchronization between the turn angles of the robots' joints and the turn …
end‐effector, is synchronization between the turn angles of the robots' joints and the turn …
A composite controller for trajectory tracking applied to the Furuta pendulum
C Aguilar-Avelar, J Moreno-Valenzuela - ISA transactions, 2015 - Elsevier
In this paper, a new composite scheme is proposed, where the total control action is
composed of the sum of a feedback-linearization-based controller and an energy-based …
composed of the sum of a feedback-linearization-based controller and an energy-based …
Active disturbance rejection control of the inertia wheel pendulum through a tangent linearization approach
M Ramírez-Neria, H Sira-Ramírez… - International Journal of …, 2019 - Springer
A flatness based approach is proposed for the linear Active Disturbance Rejection Control
(ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable …
(ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable …
Tuning of a linear-quadratic stabilization system for an anti-aircraft missile
W Bużantowicz - Aerospace, 2021 - mdpi.com
A description is given of an application of a linear-quadratic regulator (LQR) for stabilizing
the characteristics of an anti-aircraft missile, and an analytical method of selecting the …
the characteristics of an anti-aircraft missile, and an analytical method of selecting the …
Optimal Control for Discrete-Time Systems under Bounded Disturbances
E Dogadin, A Peregudin… - 2024 American Control …, 2024 - ieeexplore.ieee.org
This paper introduces a novel approach to the optimal control of linear discrete-time systems
subject to bounded disturbances. Our approach is based on the newly established duality …
subject to bounded disturbances. Our approach is based on the newly established duality …