Inverted pendulum ≈ Inverted pendulum
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End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Open
Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break befo…
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Safe Model-based Reinforcement Learning with Stability Guarantees Open
Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world…
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Center of mass velocity based predictions in balance recovery following pelvis perturbations during human walking Open
In many simple walking models foot placement dictates the center of pressure location and ground reaction force components, whereas humans can modulate these aspects after foot contact. Because of the differences, it is unclear to what ext…
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Differentiable MPC for End-to-end Planning and Control Open
We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of model-fr…
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Balance control strategies during perturbed and unperturbed balance in standing and handstand Open
Insights into sensorimotor control of balance were examined by the assessment of perturbed and unperturbed balance in standing and handstand postures. During perturbed and unperturbed balance in standing, the most prevalent control strateg…
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Controlling the kinematics of a spring-pendulum system using an energy harvesting device Open
This work focuses on vibration alleviation and energy harvesting in a dynamical system of a spring-pendulum. The structure of the pendulum is modified using an independent electromagnetic harvesting system. The harvesting depends on the os…
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Quiet standing: The Single Inverted Pendulum model is not so bad after all Open
In the study of balance and postural control the (Single) Inverted Pendulum model (SIP) has been taken for a long time as an acceptable paradigm, with the implicit assumption that only ankle rotations are relevant for describing and explai…
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Multicontact Locomotion of Legged Robots Open
International audience
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ZMP Support Areas for Multicontact Mobility Under Frictional Constraints Open
International audience
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Differentiable MPC for End-to-end Planning and Control Open
We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning. This provides one way of leveraging and combining the advantages of model-free and model-based approaches. Specifi…
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Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation Open
Numerous practical applications like robot balancing, segway and hover board riding and operation of a rocket propeller are inherently based on Inverted Pendulum (IP). The control of an IP is a sophisticated problem due to various real wor…
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Event-Triggered Robust Stabilization of Nonlinear Input-Constrained Systems Using Single Network Adaptive Critic Designs Open
In this paper, we study the event-triggered robust stabilization problem of nonlinear systems subject to mismatched perturbations and input constraints. First, with the introduction of an infinite-horizon cost function for the auxiliary sy…
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Periodic Property and Instability of a Rotating Pendulum System Open
The current paper investigates the dynamical property of a pendulum attached to a rotating rigid frame with a constant angular velocity about the vertical axis passing to the pivot point of the pendulum. He’s homotopy perturbation method i…
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A Fast Nonsingular Terminal Sliding Mode Control Method for Nonlinear Systems With Fixed-Time Stability Guarantees Open
This paper proposes a nonsingular terminal sliding mode control scheme with fast fixed-time convergence for a class of second-order nonlinear systems in the presence of matched uncertainties and perturbations. First, based on fixed-time st…
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Structured contact force optimization for kino-dynamic motion generation Open
Optimal control approaches in combination with trajectory optimization have\nrecently proven to be a promising control strategy for legged robots.\nComputationally efficient and robust algorithms were derived using simplified\nmodels of th…
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Capturability-based Pattern Generation for Walking with Variable Height Open
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. In this paper, we generalize this analysis to the variable-height inverted pendulum (VHIP) and show how …
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Federated Reinforcement Learning for Training Control Policies on Multiple IoT Devices Open
Reinforcement learning has recently been studied in various fields and also used to optimally control IoT devices supporting the expansion of Internet connection beyond the usual standard devices. In this paper, we try to allow multiple re…
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Towards a modular software package for embedded optimization Open
In this paper we present acados, a new software package for model predictive control. It provides a collection of embedded optimization algorithms written in C, with a strong focus on computational efficiency. Its modular structure makes i…
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Integrated Design of Fault-Tolerant Control for Nonlinear Systems Based on Fault Estimation and T–S Fuzzy Modeling Open
This paper proposes an integrated design of faulttolerant control (FTC) for nonlinear systems using Takagi-Sugeno (T-S) fuzzy models in the presence of modelling uncertainty along with actuator/sensor faults and external disturbance. An au…
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The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems Open
Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since t…
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Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds Open
This paper presents a control strategy for quadruped balancing that enables postural control in underactuated contact configurations (e.g., when standing on two point feet). Underactuated balancing has received considerable attention with …
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Human Fall Detection Based on Body Posture Spatio-Temporal Evolution Open
Abnormal falls in public places have significant safety hazards and can easily lead to serious consequences, such as trampling by people. Vision-driven fall event detection has the huge advantage of being non-invasive. However, in actual s…
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Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation Open
In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the e…
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Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes Open
Overhead cranes with double-pendulum effect seem more practical than those with single-pendulum effect. However, in this case, the dynamic performance analysis and the controller design become more difficult. Moreover, achieving both high-…
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Multi-objective optimized fuzzy-PID controllers for fourth order nonlinear systems Open
In this paper, the Multi-objective Genetic Algorithm (MOGA) is used to obtain the Pareto frontiers of conflicting objective functions for the fuzzy-Proportional-Integral-Derivative (fuzzy-PID) controllers. The ball–beam and inverted pendul…
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Robust Navigational Control of a Two-Wheeled Self-Balancing Robot in a Sensed Environment Open
This research presents an improved mobile inverted pendulum robot called Two-wheeled Self-balancing robot (TWSBR) using a Proportional-Derivative Proportional-Integral (PD-PI) robust control design based on 32-bit microcontroller in a sens…
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Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects Open
As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the p…
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Deterministic chaos in pendulum systems with delay Open
Dynamic system "pendulum - source of limited excitation" with taking into account the various factors of delay is considered. Mathematical model of the system is a system of ordinary differential equations with delay. Three approaches are …
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A controller for walking derived from how humans recover from perturbations Open
Humans can walk without falling despite some external perturbations, but the control mechanisms by which this stability is achieved have not been fully characterized. While numerous walking simulations and robots have been constructed, no …
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Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping Open
The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia whee…