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Full Description
The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is also an area of active study, with many new innovations and applications - for example the problem is solved in the technology of the Segway, a self-balancing transportation device.
This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum. After an introduction to the system and open/current problems, the book covers the topic in four parts: applications of robust state estimation and control to pendulum-cart systems; controllers for under-actuated mechanical systems; nonlinear controllers for mobile inverted pendulum systems; and robust controllers based observers via Takagi-Sugeno or linear approaches.
With contributions from international researchers in the field, The Inverted Pendulum in Control Theory and Robotics is essential reading for researchers, scientists, engineers and students in the field of control theory, robotics and nonlinear systems.
Contents
Chapter 1: The inverted pendulum: history and survey of open and current problems in control theory and robotics
PART I: Robust state estimation and control: application to pendulum-cart systems
Chapter 2: State estimation and parameter identification via sliding-mode techniques: pendulum-cart system
Chapter 3: Higher order sliding-mode stabilization of inverted cart-pendulum
Chapter 4: Stabilization and tracking control of the inverted pendulum on a cart via a modified PSO fractional order PID controller
PART II: Controllers for underactuated mechanical systems
Chapter 5: Model-free control of the inertia wheel inverted pendulum with real-time experiments
Chapter 6: Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum
Chapter 7: Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems
Chapter 8: Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system
PART III: Nonlinear controllers for mobile inverted pendulum systems
Chapter 9: Advances in robust control of mobile wheeled inverted pendulum
Chapter 10: Case studies on non-linear control theory of the inverted pendulum
Chapter 11: Bipedal-double-pendulum walking robot control using recurrent hybrid neural network
PART IV: Robust controllers-based observers via Takagi-Sugeno or linear approaches
Chapter 12: A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum
Chapter 13: Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer
Chapter 14: LMI-based control design for balancing and attitude stabilization of inverted pendulums
