The Reaction Wheel Pendulum
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|Author||: Daniel Jerome Block,Karl Johan Åström,Mark W. Spong|
|Editor||: Morgan & Claypool Publishers|
This monograph is concerned with modeling and control of a novel inverted pendulum device known as the Reaction Wheel Pendulum. The Reaction Wheel Pendulum is perhaps the simplest of the various pendulum systems in terms of its dynamic properties. At the same time, the Reaction Wheel Pendulum exhibits several properties, such as underactuation and nonlinearity that make it an attractive and useful system for research and advanced education. As such, the Reaction Wheel Pendulum is ideally suited for educating engineering students at virtually every level, from freshman to advanced graduate students.
|Author||: Jaideep Prasad|
|Author||: Zhitong Luo|
The Reaction Wheel Pendulum (RWP) is an interesting nonlinear system. A prototypical control problem for the RWP is to stabilize it around the upright position starting from the bottom, which is generally divided into at least 2 phases: (1) Swing-up phase: where the pendulum is swung up and moves toward the upright position. (2) Stabilization phase: here, the pendulum is controlled to be balanced around the upright position. Previous studies mainly focused on an energy method in swing-up phase and a linearization method in stabilization phase. However, several limitations exist. The energy method in swing-up mode usually takes a long time to approach the upright position. Moreover, its trajectory is not controlled which prevents further extensions. The linearization method in the stabilization phase, can only work for a very small range of angles around the equilibrium point, limiting its applicability. In this thesis, we took the 2nd order state space model and solved it for a constant torque input generating the family of phase-plane trajectories (see Appendix A). Therefore, we are able to plan the motion of the reaction wheel pendulum in the phase plane and a sliding mode controller may be implemented around these trajectories. The control strategy presented here is divided into three phases. (1) In the swing up phase a switching torque controller is designed to oscillate the pendulum until the system's energy is enough to drive the system to the upright position. Our approach is more generic than previous approaches; (2) In the catching phase a sliding surface is designed in the phase plane based on the zero torque trajectories, and a 2nd order sliding mode controller is implemented to drive the pendulum moving along the sliding surface, which improves the robustness compared to the previous method in which the controller switches to stabilization mode when it reaches a pre-defined region. (3) In the stabilization phase a 2nd order sliding mode integral controller is used to solve the balancing problem, which has the potential to stabilize the pendulum in a larger angular region when compared to the previous linearization methods. At last we combine the 3 phases together in a combined strategy. Both simulation results and experimental results are shown. The control unit is National Instruments CompactRIO 9014 with NI 9505 module for module driving and NI 9411 module for encoding. The Reaction Wheel Pendulum is built by Quanser Consulting Inc. and placed in UT's Advanced Mechatronics Lab.
|Author||: Isabelle Fantoni,Rogelio Lozano|
|Editor||: Springer Science & Business Media|
This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
|Author||: Sangeetha Sangameswaran|
|Author||: A Astolfi,Francisco Gordillo,A J Van Der Schaft|
This is the second of a series of IFAC Workshops initiated in 2000. The first one chaired and organized by Profs. N. Leonard and R. Ortega, was held in Princeton in March 2000. This proceedings volume looks at the role-played by Lagrangian and Hamiltonian methods in disciplines such as classical mechanics, quantum mechanics, fluid dynamics, electrodynamics, celestial mechanics and how such methods can be practically applied in the control community. *Presents and illustrates new approaches to nonlinear control that exploit the Lagrangian and Hamiltonian structure of the system to be controlled *Highlights the important role of Lagrangian and Hamiltonian Structures as design methods
|Author||: D N Badodkar,T A Dwarakanath|
This book offers a collection of original peer-reviewed contributions presented at the 3rd International and 18th National Conference on Machines and Mechanisms (iNaCoMM), organized by Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Mumbai, India, from December 13th to 15th, 2017 (iNaCoMM 2017). It reports on various theoretical and practical features of machines, mechanisms and robotics; the contributions include carefully selected, novel ideas on and approaches to design, analysis, prototype development, assessment and surveys. Applications in machine and mechanism engineering, serial and parallel manipulators, power reactor engineering, autonomous vehicles, engineering in medicine, image-based data analytics, compliant mechanisms, and safety mechanisms are covered. Further papers provide in-depth analyses of data preparation, isolation and brain segmentation for focused visualization and robot-based neurosurgery, new approaches to parallel mechanism-based Master-Slave manipulators, solutions to forward kinematic problems, and surveys and optimizations based on historical and contemporary compliant mechanism-based design. The spectrum of contributions on theory and practice reveals central trends and newer branches of research in connection with these topics.
|Author||: Edgar Allan Poe|
|Editor||: Lindhardt og Ringhof|
It is almost impossible to escape the Spanish Inquisition alive. However, Edgar Allan Poe’s unnamed narrator, after suffering innumerable tortures upon his body and soul in the hands of his tormenters, sees the light of the day at the very end of his sanity’s tether. Even despite the lack of supernatural elements, "The Pit and the Pendulum" (1842) has enjoyed and influenced several notable movie adaptations. Animations such as The "Flinstones", TV series like "Crime Scene Investigation", to films like Roger Corman’s "The Pit and the Pendulum" (1961), starring Vincent Price and some torture methods found in the "Saw" franchise, the story’s famous pendulum scene is a rather fruitful source of inspirations. Yet, despite the terrific torments, the story focuses primarily on how terror is implicitly depicted through the workings of the mind. Edgar Allan Poe (1809-1849) was an American poet, author, and literary critic. Most famous for his poetry, short stories, and tales of the supernatural, mysterious, and macabre, he is also regarded as the inventor of the detective genre and a contributor to the emergence of science fiction, dark romanticism, and weird fiction. His most famous works include "The Raven" (1945), "The Black Cat" (1943), and "The Gold-Bug" (1843).
|Author||: Ranjan Vepa|
|Editor||: Cambridge University Press|
Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
|Author||: Dragomir N. Nenchev,Atsushi Konno,Teppei Tsujita|
Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips
|Author||: Javier Moreno-Valenzuela,Carlos Aguilar-Avelar|
This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
|Author||: Yingmin Jia,Junping Du,Hongbo Li,Weicun Zhang|
This book presents selected research papers from the 2015 Chinese Intelligent Systems Conference (CISC’15), held in Yangzhou, China. The topics covered include multi-agent systems, evolutionary computation, artificial intelligence, complex systems, computation intelligence and soft computing, intelligent control, advanced control technology, robotics and applications, intelligent information processing, iterative learning control, and machine learning. Engineers and researchers from academia, industry and the government can gain valuable insights into solutions combining ideas from multiple disciplines in the field of intelligent systems.
|Author||: Lung-Jieh Yang,A. Noorul Haq,Lenin Nagarajan|
|Editor||: Springer Nature|
This book comprises select proceedings of the International Conference on Design, Materials, Cryogenics and Constructions (ICDMC 2019). The chapters cover latest research in different areas of mechanical engineering such as additive manufacturing, automation in industry and agriculture, combustion and emission control, CFD, finite element analysis, and engineering design. The book also focuses on cryogenic systems and low-temperature materials for cost-effective and energy-efficient solutions to current challenges in the manufacturing sector. Given its contents, the book can be useful for students, academics, and practitioners.
|Author||: IEEE Staff|
IEEE Argentina Section goals for IEEE ARGENCON are to hold a biennial own event to disseminate and exchange activities in IEEE technical field, bringing together stakeholders in the wide spectrum of areas of knowledge covered by the Institute to collaborate in the effort to promote interest and enthusiasm in the young for study and training in science and technology to promote the involvement of different branches of industry, in order to promote joint activities
|Author||: Axaykumar Mehta,Bijnan Bandyopadhyay|
|Editor||: Springer Nature|
This book compiles recent developments on sliding mode control theory and its applications. Each chapter presented in the book proposes new dimension in the sliding mode control theory such as higher order sliding mode control, event triggered sliding mode control, networked control, higher order discrete-time sliding mode control and sliding mode control for multi-agent systems. Special emphasis has been given to practical solutions to design involving new types of sliding mode control. This book is a reference guide for graduate students and researchers working in the domain for designing sliding mode controllers. The book is also useful to professional engineers working in the field to design robust controllers for various applications.
|Author||: Josephus J. M. Driessen|
|Editor||: Università degli Studi di Genova|
PhD Dissertation The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple.
|Author||: Luc Jaulin|
|Editor||: John Wiley & Sons|
Mobile Robotics presents the different tools and methods that enable the design of mobile robots; a discipline booming with the emergence of flying drones, underwater mine-detector robots, robot sailboats and vacuum cleaners. Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the concepts of actuators, sensors, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for the reliable localization of robots within their environment. This revised and updated edition contains additional exercises and a completely new chapter on the Bayes filter, an observer that enhances our understanding of the Kalman filter and facilitates certain proofs.
|Author||: Chun-Yi Su,Subhash Rakheja,Liu Honghai|
The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.