A novel general-purpose low-voltage rail-to-rail CMOS （ complementary metal-oxide-semiconductor transistor ） operational amplifier （op-amp）is introduced, which obtains constant transconductance, slew rate and cons...A novel general-purpose low-voltage rail-to-rail CMOS （ complementary metal-oxide-semiconductor transistor ） operational amplifier （op-amp）is introduced, which obtains constant transconductance, slew rate and constant high gain over the entire input common mode voltage range. The proposed scheme has the potential for applications in deep submicrometer technology, as the operation of the circuit does not exclusively rely on the square-law or the linear-law of transistors. The scheme is compact and suitable for applications as VLSI cell. The rail-to- rail op-amp has been implemented in DPDM 0. 6 μm mixedsignal process. The simulations show that in the entire range of input common mode voltage, the variations in transconductance, SR and gain are 1%, 2. 3%, 1.36 dB, respectively. Based on this, the layout and tape-out are carded out. The area of layout is 0. 072 mm^2. The test results are basically consistent with the circuit simulation.展开更多
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit...The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.展开更多
In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approa...In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.展开更多
文摘A novel general-purpose low-voltage rail-to-rail CMOS （ complementary metal-oxide-semiconductor transistor ） operational amplifier （op-amp）is introduced, which obtains constant transconductance, slew rate and constant high gain over the entire input common mode voltage range. The proposed scheme has the potential for applications in deep submicrometer technology, as the operation of the circuit does not exclusively rely on the square-law or the linear-law of transistors. The scheme is compact and suitable for applications as VLSI cell. The rail-to- rail op-amp has been implemented in DPDM 0. 6 μm mixedsignal process. The simulations show that in the entire range of input common mode voltage, the variations in transconductance, SR and gain are 1%, 2. 3%, 1.36 dB, respectively. Based on this, the layout and tape-out are carded out. The area of layout is 0. 072 mm^2. The test results are basically consistent with the circuit simulation.
文摘The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
基金supported by the National Natural Science Foundation of China under Grant Nos.61074044, 61104038,and 60834004Specialized Research Fund for the Doctoral Program of Higher Education of China under Grant No.20090041110003the National 973 Basic Research Program of China under Grant Nos. 2009CB320602 and 2002CB312200
文摘In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.
