倒立摆系统的变结构控制方案

对单级倒立摆系统的稳定和鲁棒控制问题,提出了一种基于李雅普诺夫直接法的变结构控制方案,理论分析和计算机模拟都表明该控制方案不仅能镇定倒立摆,实现对台车的位移控制,而且当系统参数变化时也实现了对该系统的鲁棒控制.     

Robust linear quadratic regulator applied to an inverted pendulum

The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control approaches developed. In this paper, we address the main inverted pendulum problems: pendulum stabilization, tracking, and catching swing-up control. We show how robust recursive, control and filtering, techniques improve the system performance. They are developed to solve stochastic problems based on deterministic approaches, in order to decrease the worst influence of uncertainties. Experimental results of the proposed robust approach provide robust stability and performance despite parametric uncertainties, disturbances, and noise effects.     

Brain emotional learning based intelligent controller applied to neurofuzzy model of micro-heat exchanger

In this paper, an intelligent controller is applied to govern the dynamics of electrically heated micro-heat exchanger plant. First, the dynamics of the micro-heat exchanger, which acts as a nonlinear plant, is identified using a neurofuzzy network. To build the neurofuzzy model, a locally linear learning algorithm, namely, locally linear mode tree (LoLiMoT) is used. Then, an intelligent controller based on brain emotional learning algorithm is applied to the identified model. The intelligent controller is based on a computational model of limbic system in the mammalian brain. The brain emotional learning based intelligent controller (BELBIC) based on PID control is adopted for the micro-heat exchanger plant. The contribution of BELBIC in improving the control system performance is shown by comparison with results obtained from classic PID controller without BELBIC. The results demonstrate excellent improvements of control action, without any considerable increase in control effort for PID + BELBIC.     

Fuzzy servo control of an inverted pendulum system

In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the performance and effectiveness of new control method. The idea behind this control method is to divide the operating region of nonlinear system into small areas, and to treat as a collection of local linear servo systems by using Davison?CSmith method. The control rule of each local linear servo systems is calculated using pole assignment method proposed by Hikita. Fuzzy method is applied to each local linear servo system and combines it as new control rule. The simulations have been done and the comparisons have been made between the fuzzy servo control and linear servo control. The simulation to study the effect of reference r????0 is done. The comparisons between different values of weight matrix Q _n for fuzzy membership function and disturbance also have been done. The results show that the proposed method can stabilize the system better than linear servo control and follow the reference given. The effect of variant value of values of weight matrix Q _n for fuzzy membership function and disturbance also can be observed.     

A hybrid controller design for bi‐axial inverted pendulum system

This study presents the use of Tustin's friction model and a disturbance observer (DOB) to improve the steady‐state error (SSE) of a bi‐axial inverted pendulum–cart system (IPCS). Furthermore, a hybrid controller contains a feedback linearization control for pendulum angle in the region of 3–12° to enlarge the angle of operation and an H_∞ control using loop shaping design procedure (LSDP) for cart position and pendulum angle in the region of 0–3° to stabilize the IPCS, respectively. Experimental results reveal that the pendulum maximum angle of operation is improved from 7 to 12°; the SSE of the angle of the pendulum is reduced from 0.85 to 0.1°, and the SSE of the position of the cart is reduced from 10 to 1.4 mm. Experimental results are illustrated and films are provided at the web site http://hinfinity.myweb.hinet.net to show the effectiveness and robustness of the hybrid controller with Tustin's friction model and DOB compensation. Copyright © 2008 John Wiley & Sons, Ltd.     

小车二级摆摆起控制器设计

研究了小车二级并行摆系统及小车二级串行摆系统的摆起控制器设计问题,并给出了这两种系统的实验结果.首先,针对上述两种系统,设计了两步控制器,即1)摆起双摆达到倒立稳摆位置的控制器,2)进行稳摆控制的控制器.其次,由于小车二级摆位移受轨道长度限制,又考虑了小车位移的控制问题.上述两种实际系统的摆起及稳摆成功,验证了所提出设计方法的有效性.     

Robust intelligent backstepping tracking control for wheeled inverted pendulum

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation controller (AORCMAC) and H ^∞ control technique is proposed for wheeled inverted pendulums (WIPs) with unknown system dynamics and external disturbance. The AORCMAC is a nonlinear adaptive system with simple computation, good generalization capability and fast learning property. Therefore, the WIP can stand upright when it moves to a designed position stably. In the proposed control system, an AORCMAC is used to copy an ideal backstepping control, and a robust H ^∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ^∞ control theory, so that the stability of the closed-loop system and H ^∞ tracking performance can be guaranteed. The proposed control scheme is practical and efficacious for WIPs by simulation results.     

直线型倒立摆的自抗扰控制设计方案

对直线型倒立摆系统,采用自抗扰控制技术来设计控制方案.对于这样的单输入双输出、强非线性、强耦合的不稳定系统,在原自抗扰控制算法的基础上,通过增加一个跟踪微分器和控制律由两个被控量的误差组合构成的方法,突破了原有的自抗扰控制算法只适用于单输入单输出系统的限制,实现了摆的偏角和小台车位移的良好控制效果,数字仿真结果证实了这种方法的有效性.     

A new controller for the inverted pendulum on a cart

This paper presents a complete solution to the problem of swinging‐up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy‐shaping law is able to swing and maintain the pendulum up. Then, the second part introduces additional control to stop the cart and it is based on forwarding control with bounded input. The resulting control law is the sum of both parts and does not commute between different laws although there exist switches inside the controller. Copyright © 2008 John Wiley & Sons, Ltd.     

Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach

The problem of balancing an inverted pendulum has been a benchmark example in demonstrating and motivating various control design techniques. In this paper, we provide a linear state feedback design technique for balancing an inverted pendulum. The pivot of this pendulum is mounted on a carriage that has limited horizontal travel. For any given (arbitrarily small) allowable travel of the carriage, our design yields a linear state feedback controller that balances the pendulum with an infinite amount of gain margin in the sense that, if the feedback gain is perturbed by any multiplying factor greater than one, the controller will still balance the pendulum without requiring greater traveling distance than the maximum allowable.     

Hefestos: an intelligent system applied to ubiquitous accessibility

This article proposes Hefestos, an intelligent system applied to ubiquitous accessibility. This model uses ubiquitous computing concepts to manage accessibility resources for people with disabilities. Among the concepts employed, context awareness, user profiles and trails management can be highlighted. The paper proposes an ontology for accessibility and delineates scenarios of its application in everyday life of people with disabilities. Moreover, the implementation of a smart wheelchair prototype and its application in a practical experiment is described. Ten users with a range of disability degrees tried the system and filled out a survey based on the technology acceptance model. This experiment demonstrated the main functionalities and the acceptance of the system. The results showed 96 % of acceptance regarding perceived easy of use and 98 % in perceived usefulness. These results were encouraging and show the potential for implementing Hefestos in real life situations.     

基于混沌搜索的二级倒立摆模糊控制器设计

利用混沌优化的模糊控制方法对二级倒立摆系统进行闭环控制。用混沌算法优化控制器的参数,首先将混沌变量引入到模糊控制器的参数域,并进行全局范围内直接寻优,当获得全局近似最优解后,再缩小寻优区间,根据性能指标,在次优解附近继续寻优,得到全局最优参数。控制结果说明该方法是有效可行的。     

Evolving neurocontrollers for balancing an inverted pendulum

This paper introduces an evolutionary algorithm that is tailored to generate recurrent neural networks functioning as nonlinear controllers. Network size and architecture, as well as network parameters like weights and bias terms, are developed simultaneously. There is no quantization of inputs, outputs or internal parameters. Different kinds of evolved networks are presented that solve the pole-balancing problem, i.e. balancing an inverted pendulum. In particular, controllers solving the problem for reduced phase space information (only angle and cart position) use a recurrent connectivity structure. Evolved controllers of 'minimal' size still have a very good benchmark performance.     

Intermittent predictive control of an inverted pendulum

Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum.     

High performance of brain emotional intelligent controller for DTC-SVM based sensorless induction motor drive

This paper introduces the application of the induction motor (IM) drive brain emotional intelligent controller (BEIC). Intelligent regulation, modelled on the human brain, is capable of generating impulses and is used as a controller. A Model Reference Adaptive System is developed using stator current and stator voltages, which are further developed with BEIC to approximate the rotor rpm. This paper proposes that speed estimation using BEIC for direct torque control (DTC) of IM drive. The experimental work is conducted on a hardware-in-loop mechanism using a real-time digital simulator (Op-RTDS-OP5600). The simulation and test results are discussed. The proposed method is compared to the DTC-SVM-based IM drive speed control with the existing controllers.

     

Deep learning-based algorithm for vehicle detection in intelligent transportation systems

The Journal of Supercomputing - Object detection is an essential technology in the computer vision domain and plays a vital role in intelligent transportation. Intelligent vehicles utilize object...     

一种改进的三级倒立摆变论域模糊控制器设计

在传统变论域模糊控制系统中, 论域随着输入的变化实时改变, 论域的反复调整降低了控制的实时性, 同时伸缩因子的函数结构和参数也不易确定. 基于上述问题本文设计了基于改进型变论域算法的三级倒立摆模糊控制器: 首先提出了相对变论域控制思想, 然后采用模糊逻辑推理器构造了伸缩因子, 实时调整输入变量, 从而相对性地改变论域大小, 避免了传统伸缩因子的函数结构和参数不易确定的问题, 并根据系统闭环响应曲线设计了控制 器输出调整因子. 最后采用极点配置方法对状态变量进行综合, 避免了规则爆炸问题. 三级倒立摆的仿真结果表明了该方法具有较好的控制效果.     

倒立摆的局部反馈线性化控制方法

针对一级倒立摆系统,基于局部反馈线性化方法将系统的动力学转换为便于控制器设计的级联系统模型,并利用线性矩阵不等式设计了满意PID控制器.实验结果表明,该方案实现了系统输出时指令信号的精确跟踪且具有抗干扰能力.     

实时倒立摆系统的设计与实现

为了克服商业倒立摆存在通用性差,不便于改装升级,不利于新的控制算法探索和研究等问题,一种实时倒立摆系统被设计和实现。系统硬件采用PC机+运动控制器方式;软件采用Real-Time Windows Target方式,使用SIMULINKC MEX S函数在PC机上开发了设备驱动模块,并通驱动模块构成实时倒立摆控制系统。实验结果表明,该系统通用性能高,倒立摆系统的软件和硬件参数完全已知,无任何加密或者固化,便于改装和升级,也方便算法研究者进行算法设计和实现。     

平行二级倒立摆的稳定控制

将单一输入规则群动态加权模糊推理模型应用于平行二级倒立摆系统，设计出具有6个输入交量的模糊稳定控制器。该模糊控制器规则总数少，直观性强。计算机仿真表明，该模糊控制器能在短时间内同时实现两摆角度及小车位置的控制。