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This article presents practical course content of a control theory subject used in the Control Systems and Informatics department of the ITMO University. There are many different examples of the empirical development and model based control algorithms. Course begins with the simple line tracer robot and ends with the inverted pendulum on a cart. Du...
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... Several companies around the world are dedicated to manufacture professional products. In this framework, we can cite the LEGO products [102][103][104][105][106], the Quanser ...
... The inverted pendulum 13 products [107] fully compatible with MATLAB ® /Simulink ™ and LabVIEW ™ software including translational and rotary motion control inverted-pendulum systems [101][102][103][104][105][106][107][108][109][110], the Googol Technology products [111] including transitional, circular and self-balancing wheeled inverted-pendulum platforms [112][113][114] ...
The inverted pendulum is a classical problem in dynamics and control theory widely used as a fundamental system for testing emerging control algorithms. In spite of its very simple structure appropriate for developing real-time implementation, the inverted-pendulum model is considered the richest one amongcommonrobotic benchmarks. Not only, it can describe many engineering problems but also it can explain several biological examples. Various mathematical models and experimental designs for the inverted pendulum exist offering an attractive tool for education and research. The objective of this survey is to present an overview of the available varieties of such system, highlighting the richness of its dynamics and then providing an overall picture of different control design approaches and trendy robotic problems related to its simple structure. In total, 300 references in the open literature, dating back to Galileo’s first experiments written in 1602, are compiled to provide an overall picture of historical, current and challenging developments based on the stabilization
principle of the inverted pendulum.
... Positive feedback were received, since now students more interested in control theory applications, and will be interested in explanation of the difficult things in the future. We improved our course of the lab activities described in articles [6], [7], [8], and migrated course from NXT to EV3 with Python. In this paper the curricula of the control theory course is presented. ...
... VIII. CONCLUSION Our department starts this course from the different underactuated systems [6], [13] like segway, Furuta pendulum, Kapitza pendulum, inverted pendulum on a cart and etc. But it was focused mainly on control theory, now we shifted to the world competition tasks. ...
Underactuated systems are mechanical systems with
fewer actuators than the system degrees of freedom, i.e., some
degrees of freedom are not directly driven by actuators. Many
benchmark underactuated systems have been developed to study
the nature of underactuated dynamics and their possible controller
designs. Unlike fully actuated systems where many control
strategies are available for an entire class of systems, there are
few results applicable to even a small class of underactuated mechanical
systems. In this paper, an Adaptive Fuzzy Sliding Mode
Controller (AFSMC) is proposed in order to stabilize an inverted
pendulum mounted on a ball system, also known as ballbot; this
latter an interesting underactuated mechanical system for which
the controller designs are a pending task, i.e. the performance for
different control strategies could be explored. The performance
of our proposal is verified via numerical simulation, showing the
robustness against time-varying uncertainties and disturbances.
