The inverted pendulum benchmark in nonlinear control theory: a survey
O Boubaker - International Journal of Advanced Robotic …, 2013 - journals.sagepub.com
For at least fifty years, the inverted pendulum has been the most popular benchmark, among
others, in nonlinear control theory. The fundamental focus of this work is to enhance the …
others, in nonlinear control theory. The fundamental focus of this work is to enhance the …
Near-optimal control of nonlinear dynamical systems: A brief survey
For nonlinear dynamical systems, an optimal control problem generally requires solving a
partial differential equation called the Hamilton–Jacobi–Bellman equation, the analytical …
partial differential equation called the Hamilton–Jacobi–Bellman equation, the analytical …
Pseudospectral methods for solving infinite-horizon optimal control problems
An important aspect of numerically approximating the solution of an infinite-horizon optimal
control problem is the manner in which the horizon is treated. Generally, an infinite-horizon …
control problem is the manner in which the horizon is treated. Generally, an infinite-horizon …
A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control
Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …
significant improvement of the behavioural performance and energy efficiency. Adopting …
The inverted pendulum: A fundamental benchmark in control theory and robotics
O Boubaker - International conference on education and e …, 2012 - ieeexplore.ieee.org
For at least fifty years, the inverted pendulum has been the most popular benchmark, among
others, for teaching and researches in control theory and robotics. This paper presents the …
others, for teaching and researches in control theory and robotics. This paper presents the …
An efficient Min/Max Robust Model Predictive Control for nonlinear discrete-time systems with dynamic disturbance
The robust model predictive control (MPC) scheme of a perturbed nonlinear system is a
challenging problem because it is hard to not only obtain the estimated model and …
challenging problem because it is hard to not only obtain the estimated model and …
An inversion-based model predictive control with an integral-of-error state variable for piezoelectric actuators
Piezoelectric actuators have been widely employed in various nanopositioning systems.
Hysteresis exhibited by piezoelectric actuators can degrade their behavior, and thus the …
Hysteresis exhibited by piezoelectric actuators can degrade their behavior, and thus the …
[HTML][HTML] Lyapunov-based damping controller with nonlinear MPC control of payload position for a knuckle boom crane
A crane control system is proposed where the crane payload follows a desired position
trajectory with ultimately bounded pendulum motion. The proposed control system includes …
trajectory with ultimately bounded pendulum motion. The proposed control system includes …
Adaptive neural network control for the trajectory tracking of the Furuta pendulum
J Moreno-Valenzuela, C Aguilar-Avelar… - IEEE transactions on …, 2016 - ieeexplore.ieee.org
The purpose of this paper is to introduce a novel adaptive neural network-based control
scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system …
scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system …
On replacing a PID controller with Neural Network controller for Segway
AA Ahmed, AFS Alshandoli - 2020 International Conference on …, 2020 - ieeexplore.ieee.org
Segway is personal short-haul transportation. currently, the Segway moving that is available
in the market can be moved by the user by moving his balance backward and forward. Due …
in the market can be moved by the user by moving his balance backward and forward. Due …