In recent years, wireless sensor networks (WSNs) have become established as an effective way of interconnecting sensor devices with simultaneous communication and data processing. Since it allows low-cost and low-power sensor devices, the use of WSNs has increased in different application areas, such as environmental monitoring, smart cities and crowdsourcing. This paper presents the functional design and implementation of a system for monitoring environmental conditions through using a WSN and NodeMCU. The system is developed for web-and mobile-based applications where preprocessed data are subsequently sent to the cloud via a web API, where comprehensive data analytics can be performed to gain better insight into the overall environmental conditions and help with improvements. The user can monitor measured data anywhere via the Internet by using the web and mobile applications. If the data measured by a sensor node exceeds the configured value range, the web application sends a notification to the user to improve the environmental conditions.
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.
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