• 한국산업융합학회 논문집
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• 제23권1호
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• 산업기술연구
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• 제20권B호
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• pp.201-206
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• 2000

A priori information of object is needed to control in some well known control methods. But we can't always know a priori information of object in real world. In this paper, the inverted pendulum is simulated as a control task with the goal of learning to balance the pendulum with no a priori information using neural network controller. In contrast to other applications of neural networks to the inverted pendulum task, the performance feedback is unavailable on each training step, appearing only as a failure signal when the pendulum falls or reaches the bound of track. To solve this task, the delayed performance evaluation and the learning of nonlinear of nonlinear functions must be dealt. Reinforcement learning method is used for those issues.

• Journal of Advanced Marine Engineering and Technology
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• 제23권2호
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• pp.168-175
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• 1999

Unlike a general inverted pendulum system which is moved on the cart the proposed inverted pendulum system in this paper has an inverted pendulum which is moved on the two-degree-of-freedom parallelogram link. The dynamic equation of the pendulum system activated by the DD(Direct Drive)motor includes many nonlinear terms and has the high degree of freedoms. The problem is followed hat the exact mathmatical equations can not be analized by a general linear theory However the neural network trained by a simple learning method can control the dynamic system with hard nonlinearities. Learning procedure is the backpropagation algorithm with super-visory signal. The plant inputs obtained by the designed neural network in this paper can stabilize the pendu-lem and get the servo control. Experiment results have proce the effectiveness of the designed neural network controller.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.309-314
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• 2009

This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education. Control purpose is to satisfy balancing angle and desired trajectory tracking performance. The adaptive neuro-fuzzy controller has the Takagi-Sugeno(T-S) fuzzy structure. Back-propagation algorithm is used for updating weights in the fuzzy control. Control performances of the inverted pendulum system by PID control method and the adaptive neuro-fuzzy control method are compared. Control hardware of a DSP 2812 board is used to achieve the real-time control performance. Experimental studies are conducted to show successful control performances of the inverted pendulum system by the adaptive neuro-fuzzy control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2467-2469
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• 2001

A strategy for the swing-up and stabilization control method for a two-links rotational pendulum according to states of each link of the rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal function, which is developed based on resonance period of the pendulum in linear region, to make the second link (pendulum) reach top position. After the controller finishes operation in divergence mode, stabilization control is initiated to keep the pendulum around the top position using pole placement control method. Experimental results are given to show the effectiveness of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.395-396
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• 2008

• 구강회복응용과학지
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• 제34권1호
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• pp.10-16
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• 2018

목적: 골격성 고정원의 사용으로 고정원이 보강된 Pendulum 장치가 환자의 두개 안면 요소의 수직적인 부분에 미치는 영향을 분석하고자 하였다. 연구 재료 및 방법: 골격성 고정원과, pendulum을 이용하여 비발치 치료를 시행한 환자 중, 발산형 안모(SN-MP > $37^{\circ}$)와 중간형 안모($29^{\circ}$ < SN-MP < $37^{\circ}$) 각각 10명씩 분류하여 치료의 단기적 효과에 대해 분석하였다. 결과 및 결론: 골격 형태에 따른 차이로 발산형 안모군(HG)은 구치부 후방이동과 관련하여 하악 전치의 순측 경사가 유의하게 나타났다(P < 0.05). 중간형 안모군(MG)은 구치부의 유의한 이동만 나타났다(P < 0.05). 전치의 순측 이동은 유의성이 없었다. 본 논문에서 Pendulum 장치는 수직적인 안모 형태에 유의한 영향을 주지 않으며, 악화시키지 않았다.

• Structural Engineering and Mechanics
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• 제40권3호
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• pp.315-334
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• 2011

Seismic isolated building structures are examined in this study. The triple concave friction pendulum (TCFP) is used as a seismic isolation system which is easy to be manufactured and enduring more than traditional seismic isolation systems. In the TCFP, take advantage of weight which pendulum carrying and it's geometry in order to obtain desirable result of seismic isolation systems. These systems offer advantage to buildings which subject to severe earthquake. This is result of damping force of earthquake by means of their internal constructions, which consists of multiple surfaces. As the combinations of surfaces upon which sliding is occurring change, the stiffness and effective friction change accordingly. Additionally, the mentioned the TCFP is modeled as of a series arrangement of the three single concave friction pendulum (SCFP) bearings. A two dimensional- and eight- story of a building with and without isolation system are used in the time history analysis in order to investigate of the effectiveness of the seismic isolation systems on the buildings. Results are compared with each other to emphasize efficiency of the TCFP as a seismic isolation device against the other friction type isolation system like single and double concave surfaces. The values of the acceleration, floor displacement and isolator displacement obtained from the results by using different types of the isolation bearings are compared each other. As a result, the findings show that the TCFP bearings are more effective devices for isolation of the buildings against severe earthquakes.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.835-841
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• 2014

In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.