This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time.

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

Vehicle suspension systems are fundamental components designed to mitigate the adverse effects of road surface irregularities. These systems are typically categorized as passive, semi-active, or active suspensions. This study focuses on a quarter car suspension model to explore the application of...

The paper addresses the problem to vehicle speed calculation at road accidents. To determine the speed are used the PC Crash software and Virtual Crash. With both methods are analysed concrete cases of road accidents. Calculation methods and comparing results are present for analyse. These methods consider several factors such are: the front part of the vehicle, the technical feature of the vehicle, car angle, remote relocation after the crash, road conditions etc. Expected results with PC Crash software and Virtual Crash are shown in tabular graphics and compared in mathematical methods.