Stabilization Control of Rotary Base Inverted Pendulum by Combination of Lyapunov-base controller and Linear PD controller.
Cesar Alejandro Villasenor RiosOctavio Gutierrez-FriasPublished in: CoDIT (2022)
Keyphrases
- inverted pendulum
- open loop
- nonlinear systems
- feedback control
- adaptive fuzzy
- intelligent control
- adaptive control
- fuzzy controller
- simulation study
- control algorithm
- closed loop
- stability analysis
- control law
- biped robot
- controller design
- fuzzy systems
- control system
- mobile robot
- initial conditions
- control method
- fuzzy control
- adaptive neural
- legged robots
- control scheme
- control theory
- control strategy
- neural network
- lyapunov function
- learning rate
- optimal control
- tracking error
- sagittal plane
- membership functions
- fuzzy model