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Zhi Yang - One of the best experts on this subject based on the ideXlab platform.

  • control of Pendulum tracking including swinging up of ipc system using zeroing gradient method
    Nonlinear Dynamics, 2017
    Co-Authors: Yunong Zhang, Bolin Liao, Zhi Yang
    Abstract:

    The Pendulum control of the inverted-Pendulum-on-a-cart (IPC) system is one of the most important issues in nonlinear control theory and has been widely investigated. Nevertheless, the control of Pendulum tracking and swinging up has often been addressed separately. In this paper, by combining the zeroing dynamics and the conventional gradient dynamics, two concise zeroing-gradient (ZG) controllers (termed, z2g0 controller and z2g1 controller, respectively) are constructed for the IPC system. Importantly, the proposed z2g1 controller not only realizes the simultaneous control of Pendulum swinging up and Pendulum Angle tracking, but also solves the singularity problem elegantly without using any switching strategy. Besides, the ZG method is compared with the optimal control method and the backstepping method. The theoretical analyses about the convergence performance of z2g0 and z2g1 controllers are further presented. Moreover, the boundedness of both control input u and its derivative \(\dot{u}\) of the z2g1 controller is proved. Three illustrative examples are carried out to demonstrate the tracking performance of z2g0 and z2g1 controllers for the Pendulum tracking control. In particular, the efficacy and superiority of z2g1 controller for the control of Pendulum tracking (including swinging up) of the IPC system in conquering the singularity problem are substantiated by comparative results. Furthermore, this paper investigates the robustness of the proposed ZG controllers (as well as the ZG design method) in the situations of time delay and disturbance.

Yunong Zhang - One of the best experts on this subject based on the ideXlab platform.

  • zg controllers handling vip system with nonzero link mass large friction coefficient and different initial Pendulum Angle
    2017 IEEE 3rd Information Technology and Mechatronics Engineering Conference (ITOEC), 2017
    Co-Authors: Yunong Zhang, Jinjin Wang, Binbin Qiu, Deyang Zhang, Yang Shi
    Abstract:

    The vehicular inverted Pendulum (VIP) system is one of the most important issues in dynamics and control theory, and has been widely used as a benchmark for testing control algorithms. However, the tracking control and swing-up control of the VIP system have often been investigated separately. In this paper, by combining the Zhang dynamics (ZD) method and the traditional gradient dynamics (GD) method, two Zhang-gradient (ZG) controllers of z2g0 type and z2g1 type are constructed. Note that z2g1 controller can conquer the singularity problem encountered by z2g0 controller and other conventional controllers, thus achieving the tracking control and swing-up control of VIP system simultaneously. The numerical-experimental results substantiate the feasibility and effectiveness of z2g0 and z2g1 controllers for tracking control of the VIP system. Particularly, numerical-experimental results illustrate that the z2g1 controller can achieve tracking control and swing-up control simultaneously with suitable control input. Thus, the z2g1 controller is more suitable for handling the VIP system with nonzero link mass.

  • control of Pendulum tracking including swinging up of ipc system using zeroing gradient method
    Nonlinear Dynamics, 2017
    Co-Authors: Yunong Zhang, Bolin Liao, Zhi Yang
    Abstract:

    The Pendulum control of the inverted-Pendulum-on-a-cart (IPC) system is one of the most important issues in nonlinear control theory and has been widely investigated. Nevertheless, the control of Pendulum tracking and swinging up has often been addressed separately. In this paper, by combining the zeroing dynamics and the conventional gradient dynamics, two concise zeroing-gradient (ZG) controllers (termed, z2g0 controller and z2g1 controller, respectively) are constructed for the IPC system. Importantly, the proposed z2g1 controller not only realizes the simultaneous control of Pendulum swinging up and Pendulum Angle tracking, but also solves the singularity problem elegantly without using any switching strategy. Besides, the ZG method is compared with the optimal control method and the backstepping method. The theoretical analyses about the convergence performance of z2g0 and z2g1 controllers are further presented. Moreover, the boundedness of both control input u and its derivative \(\dot{u}\) of the z2g1 controller is proved. Three illustrative examples are carried out to demonstrate the tracking performance of z2g0 and z2g1 controllers for the Pendulum tracking control. In particular, the efficacy and superiority of z2g1 controller for the control of Pendulum tracking (including swinging up) of the IPC system in conquering the singularity problem are substantiated by comparative results. Furthermore, this paper investigates the robustness of the proposed ZG controllers (as well as the ZG design method) in the situations of time delay and disturbance.

Sunil K Agrawal - One of the best experts on this subject based on the ideXlab platform.

  • velocity and position control of a wheeled inverted Pendulum by partial feedback linearization
    IEEE Transactions on Robotics, 2005
    Co-Authors: Kaustubh Pathak, Jaume Franch, Sunil K Agrawal
    Abstract:

    In this paper, the dynamic model of a wheeled inverted Pendulum (e.g., Segway, Quasimoro, and Joe) is analyzed from a controllability and feedback linearizability point of view. First, a dynamic model of this underactuated system is derived with respect to the wheel motor torques as inputs while taking the nonholonomic no-slip constraints into considerations. This model is compared with the previous models derived for similar systems. The strong accessibility condition is checked and the maximum relative degree of the system is found. Based on this result, a partial feedback linearization of the system is obtained and the internal dynamics equations are isolated. The resulting equations are then used to design two novel controllers. The first one is a two-level velocity controller for tracking vehicle orientation and heading speed set-points, while controlling the vehicle pitch (Pendulum Angle from the vertical) within a specified range. The second controller is also a two-level controller which stabilizes the vehicle's position to the desired point, while again keeping the pitch bounded between specified limits. Simulation results are provided to show the efficacy of the controllers using realistic data.

Bolin Liao - One of the best experts on this subject based on the ideXlab platform.

  • control of Pendulum tracking including swinging up of ipc system using zeroing gradient method
    Nonlinear Dynamics, 2017
    Co-Authors: Yunong Zhang, Bolin Liao, Zhi Yang
    Abstract:

    The Pendulum control of the inverted-Pendulum-on-a-cart (IPC) system is one of the most important issues in nonlinear control theory and has been widely investigated. Nevertheless, the control of Pendulum tracking and swinging up has often been addressed separately. In this paper, by combining the zeroing dynamics and the conventional gradient dynamics, two concise zeroing-gradient (ZG) controllers (termed, z2g0 controller and z2g1 controller, respectively) are constructed for the IPC system. Importantly, the proposed z2g1 controller not only realizes the simultaneous control of Pendulum swinging up and Pendulum Angle tracking, but also solves the singularity problem elegantly without using any switching strategy. Besides, the ZG method is compared with the optimal control method and the backstepping method. The theoretical analyses about the convergence performance of z2g0 and z2g1 controllers are further presented. Moreover, the boundedness of both control input u and its derivative \(\dot{u}\) of the z2g1 controller is proved. Three illustrative examples are carried out to demonstrate the tracking performance of z2g0 and z2g1 controllers for the Pendulum tracking control. In particular, the efficacy and superiority of z2g1 controller for the control of Pendulum tracking (including swinging up) of the IPC system in conquering the singularity problem are substantiated by comparative results. Furthermore, this paper investigates the robustness of the proposed ZG controllers (as well as the ZG design method) in the situations of time delay and disturbance.

Qian Dashuai - One of the best experts on this subject based on the ideXlab platform.

  • swing characteristic of pads in tilting pad bearing
    Journal of the Harbin Institute of Technology, 2011
    Co-Authors: Qian Dashuai
    Abstract:

    The geometric relations of pad on tilting-pad bearing were studied,the relationship between tile Pendulum Angle and structural parameters were established by the oil-film force model of finite length tilting pad bearing and equilibrium equation,and the basic law of tile Pendulum Angle change was analyzed.The study shows that the tile Pendulum Angle is determined by the pad structural parameters,the eccentricity ratio of tilting pad bearing and the clearance ratio,but independent of shaft rotating speed,viscosity of lubrication oil,etc.A case study of a tilting pad bearing with 80 deg pad arc Angle,0.5 offset was performed to illustrate the law of tile Pendulum Angle varies with eccentricity ratio and clearance ratio.It is revealed that,when the structural parameters of tilting pad bearing are constant,the tile Pendulum Angle increases first and then decreases with the original eccentricity ratio increases,and increases linearly with the increasing of bearing clearance ratio.