Electrical and Electronic Engineering - Research Publications
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ItemA note on the control of a spherical inverted pendulum(IFAC, 2007-01-01)We carry out extensive numerical simulations of a spherical inverted pendulum with various controllers to verify our theoretical developments. The simulations are useful in quantitatively understanding the operation of the system with different controllers and checking that the theoretical results are consistent with the numerical results. Using the numerical simulations, we also discuss in some detail various important aspects of the performance of the closed loop systems in order to compare the controllers.
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ItemDecentralized control design of interconnected chains of integrators: A case study(PERGAMON-ELSEVIER SCIENCE LTD, 2008-08-01)We develop a constructive decentralized control design procedure for a class of systems that may be loosely described as chained integrators which are dynamically coupled. The design method is inspired by nested saturation control ideas and formulated by applying the singular perturbation theory. We demonstrate that the proposed design provides a Lyapunov function for an associated closed loop system from which semi-global stability may be deduced. Using the proposed idea, we design a semi-globally stabilizing control law for a four degree of freedom spherical inverted pendulum.
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ItemNon-local stabilization of a spherical inverted pendulum(TAYLOR & FRANCIS LTD, 2008)We design a non-linear stabilizing control law for a four degree of freedom spherical inverted pendulum. The pendulum is a slim cylindrical beam attached to a horizontal plane via a universal joint; the joint is free to move in the plane under the influence of a planar force. The upright position is an unstable equilibrium of the uncontrolled system because of gravity. The objective is to design a controller so that it stabilizes the upright position starting from any position in the upper hemisphere with arbitrary velocity. We achieve this by first transforming the original system to an appropriate upper triangular form and then designing a controller which incorporates a high gain design with the method of non-linear forwarding. The control law is evaluated through computer simulations.
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ItemNon-linear stable inversion-based output tracking control for a spherical inverted pendulum(TAYLOR & FRANCIS LTD, 2008)We design an exact output tracking control law for a four degree of freedom spherical inverted pendulum based on the non-linear stable inversion tool proposed by Devasia et al. (1989). The pendulum is a slim cylindrical beam attached to a horizontal plane via a universal joint; the joint is free to move in the plane under the influence of a planar force. The upright position is an unstable equilibrium of the uncontrolled system because of gravity. The objective is to design a controller so that the pendulum can be steered to track some smooth desired translational trajectories while keeping the pendulum tightly around the upright position. The design proceeds in three steps: 1. identification of the internal dynamics; 2. feedforward control design for achievable trajectories; 3. feedback design to stabilize the achievable trajectories. The computer simulations show that the proposed controller can deliver excellent tracking performance.
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ItemWay point tracking of a spherical pendulum inverted(IEEE, 2007)
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ItemModelling and stabilisation of a spherical inverted pendulum(Elsevier BV, 2005-01-01)