This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated subject to dynamic friction, backlash, modeling uncertainty. The involves three major developments. First, uncertainty of system described by previous sampled unknown nonlinear term its changing rate. Compensation are then designed eliminate influence rate on outputs controlled plant. Second, based Lyapunov stability theory, proposed....

Abstract The study presents an adaptive robust control method for the Pendubot subjects to matched and mismatched uncertainty. First, task is formatted as a reduced-dimension equality constraint of system states. To handle uncertainties, orthogonal decomposition employed make part disappear after decomposition. Based on above, law based constraint-following devised. By Lyapunov approach, it rigorously proven that proposed approach ensures uniform boundedness ultimate closed-loop thus renders...

Purpose The purpose of this paper is to discuss the possibility and necessity using grey system theory in neuropsychological studies. Design/methodology/approach employs a logical analysis approach. Findings There are three characteristics studies: particularity study subjects; specialty scheme; insufficient data from traditional statistical methods. Grey appropriate for analyzing collected Originality/value After several years' significant development, has been applied various subjects...

We present a procedure for the computation of stabilizing compensator double inverted pendulum known as Pendubot. The relies on computational algorithm based various results "the polynomial matrix approach" and in particular solution Diophantine equations required parametrization proper "denominator assigning" internally compensators linear time invariant multivariable (LTI) systems. underlying theory regarding leading to denominator (pole) assigning is reviewed emerging from this presented...

In this article, we generalize previously reported results for linear, time-invariant, stabilizable multivariable systems described by a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">strictly</i> proper transfer function matrix <inline-formula xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$P(s)$</tex-math></inline-formula> with number of outputs greater than or equal to the inputs. By making use special kind left...

Abstract This paper concerns the stabilization problem for an underactuated robot called Pendubot. Relying on a computational algorithm which is based various results of ‘polynomial matrix approach’, we propose output-feedback-based internally stabilizing controller to stabilize Pendubot at unstable vertical upright position. The utilizes solution polynomial Diophantine equations required computation and parameterization proper ‘denominator assigning’ controllers linear time invariant...

This paper addresses the problem of Fault Detection and Diagnosis (FDD) a Multiple-Input Multiple-Output (MIMO) resonant system in presence actuator faults. To this end, Kalman-filter based FDD (KF-FDD) module is proposed to simultaneously estimate isolate possible faults within each actuator. A discrete-time State Space Representation (SSR) plate structure with three pairs sensors actuators, first constructed. pre-designed MIMO Positive Position Feedback (PPF) controller utilized ensure...

In this paper, a model-free integral reinforcement learning (IRL) resilient tracking control scheme has been proposed for class of non-affine nonlinear systems with uncertainties. By using the precompensation technique, actual working transformed into state compensator, and an augmented system converts optimal problem regulation problem. Then applying (RL) designed method can avoid dynamic information directly during iteration process, obtain control. Moreover, developed algorithm overcomes...

In this paper, the tracking control design based on feedback linearization (FL) and Linear Algebra Based (LAB) methodologies is applied to of trajectory a typical mobile robot. Their applicability, as well their advantages drawbacks are highlighted.

AbstractIn this paper, we examine the problems of existence and computation proper stable stabilising compensators in feedback path a special class linear time-invariant multivariable systems characterised by strictly transfer function matrix. For that are 'square', i.e. have same number inputs outputs no zeros closed right half complex plane 'non-square' include 'square' subsystem has present sufficient condition for (pole placing) which certain cases depend on matrix system can be chosen...