Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 55 for “"inverted pendulum"”.
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Linear dual inverted pendulum control
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1997.
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Feedback Stabilization of Inverted Pendulum Models
… of nonlinear mechanical systems are the Simple Inverted Pendulum and the Inverted Pendulum on a Cart (PoC). These examples provide insight into both the feasibility and usability of Jacobian linearizations of nonlinear systems, as well as demonstrate the concepts of local stability, …
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Stabilizing the dual inverted pendulum : a practical approach
A dual inverted pendulum system, consisting of two individual pendulums of different lengths on a single cart, was fully designed and implemented as a demonstration of classical control theory. This document contains an analysis of the complete control system for both a single and dual inverted …
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Conceptual Design and Simulation of An Inverted Pendulum Wheelchair
… has led to an investigation into spherical inverted pendulum wheelchair concept. The wheelchair's concept is based around the dynamic and control of spherical inverted pendulum.The investigation starts with the stabilisation of the inverted pendulum using some various control strategies and …
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Visual Feedback Stabilisation of a Cart Inverted Pendulum A
… this pursuit by employing the classic Cart Inverted Pendulum; an inherently unstable, non-linear system to investigate dynamic object balancing by vision-only feedback. The Inverted Pendulum is considered to be one of the most fundamental benchmark systems in control theory; as a platform, …
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Construction and performance of an inverted pendulum thrust balance
… of its torsional style design. An entirely new, inverted pendulum-type balance needed to be built. The new design employs a vertical arm with the DCF situated at the top and a counterweight placed at the bottom. The vertical arm rotates at the fulcrum through a flexible pivot attached to a base. …
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Modeling and dynamic analysis of a two-wheeled inverted-pendulum
… economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need. However, the Segway places the operator on top of a naturally unstable platform that is stabilized by means of a control system. The control stability of the …
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Development, thermal analysis, and verification of an inverted pendulum thrust stand
… thesis presents the construction of a null-style inverted pendulum thrust stand for the University of Illinois at Urbana-Champaign’s Electric Propulsion Laboratory (EPL). Hanging, torsional and inverted pendulum thrust stands are briefly discussed followed by an in-depth discussion of the …
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Control of a dual inverted pendulum system using linear-quadratic and H-infinity methods
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.
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Lab experiences for teaching undergraduate dynamics
… (LTI) systems and (2) a two wheeled mobile inverted pendulum. The ActivLab equipment has been designed as shareware, and plans for it are available on the web. The inverted pendulum robot developed here is largely inspired by the iBOT and Segway transportation devices invented by Dean Kamen.
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A METHOD FOR DYNAMIC BALANCE
… describes the dynamic balance of a single link inverted pendulum in flat and changing terrains. A gravity sensing technique has been developed and tested in simulation to measure the imbalance of the inverted pendulum from the vertical position regardless of the terrain conditions. A task …
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Kalman filtering of IMU sensor for robot balance control
… center of mass location of a robot modeled as an inverted pendulum. The controlled center of mass trajectories with state estimates generated from Kalman filtering were compared, where possible, to the CM trajectory based on unfiltered sensor measurements of the states. For the simple case of …
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Balance control and locomotion planning for humanoid robots using nonlinear centroidal models
… whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de facto standard low-dimensional model used in balance control. The LIP has its limitations, however. For example, it requires that the robot's center of mass move on a plane and that the robot's contact …
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The use of inertial measurement units for the determination of gait spatio-temporal parameters
… study addressed the validity of the IMU and inverted pendulum model measurements within PD and also explored the inter-rater reliability of the measurement. In the third study the optimisation of the inverted pendulum model driven by IMU data was explored when comparing to standardised …
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Analysis of walking and balancing models actuated and controlled by ankles
… I investigate whether balancing of a double inverted pendulum model whose shape and mass distribution are similar to a human can be achieved by control of ankle torque in a frontal plane. I study the dynamics of the model and design a controller that makes the model balance with biologically …
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Design and Development of a Self-Balancing Bicycle Using Control Moment Gyro
… non-linear unstable system similar to that of an inverted pendulum. Experimental results show the robustness and efficiency of a proportional plus derivative (PD) controller balancing the bicycle. The system uses a control moment gyroscope (CMG) as an actuator for balancing.
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Visual-Oculomotor and Head Movement Strategies in Postural Control
… was grounded in the premise that if the inverted pendulum model of COM were to be extended to include the head, then movement patterns between head position and COM would be tightly coupled. Results from this study reflected strong linear relationships between head position and COM, with …
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Languages and Tools for Optimization of Large-Scale Systems
… thesis, a manual control scheme for an unstable inverted pendulum system, where the inputs are bounded, is presented. The proposed controller is based on the notion of reachability sets and guarantees semi global stability for all references. An inverted pendulum on a two wheels robot has been …
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On the control of paraplegic standing using functional electrical stimulation
… Assuming the subject as a single-link inverted pendulum, an improved fully dynamic control approach was employed in the first step, confirming existing results. Here, the voluntary influence by the central nervous system was minimised. However, it is naturally desirable to take …
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