Just-in-time control of image-based inverted pendulum systems with a time-delay

Ken Ichiro Fukuda, Shun Ushida, Koichiro Deguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Humans can keep a stick on the fingertip upright position for a certain time after a brief exercise, although we have a large time delay due to signal transfer in the optic nerve and due to information processing in the brain. Correspondingly in an experiment on the stabilization of the mechanical inverted pendulum, we use a normal frame rate camera as an angle sensor of the pendulum, and its large time delay makes the stabilization difficult. How can humans compensate the large time delay? In order to answer this question, we apply Just-In-Time method to the inverted pendulum control system. This memory-based scheme corresponds to the mechanism of human learning and memory. This method can stabilize the inverted pendulum for a certain amount of time just like humans. An analysis of the behavior of the pendulum may give an interpretation for the motor control mechanism of human.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages4016-4021
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Keywords

  • Human motor control
  • Inverted pendulum
  • Just-in-time method
  • Time delay

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Fukuda, K. I., Ushida, S., & Deguchi, K. (2006). Just-in-time control of image-based inverted pendulum systems with a time-delay. In 2006 SICE-ICASE International Joint Conference (pp. 4016-4021). [4108210] (2006 SICE-ICASE International Joint Conference). https://doi.org/10.1109/SICE.2006.315000