The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations

edited by Olfa Boubaker and Rafael Iriarte

The Institution of Engineering and Technology, 2018 eISBN: 978-1-78561-321-0 | Cloth: 978-1-78561-320-3 Library of Congress Classification QA276.8.I58 2017 Dewey Decimal Classification 629.8312

ABOUT THIS BOOK | TOC

ABOUT THIS BOOK 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.

TABLE OF 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

The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations

edited by Olfa Boubaker and Rafael Iriarte

The Institution of Engineering and Technology, 2018 eISBN: 978-1-78561-321-0 Cloth: 978-1-78561-320-3

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.

TABLE OF 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