|
| << vorige | volgende >> |
Tijdschrift beschrijving
Alle jaargangen van het bijbehorende tijdschrift
Alle afleveringen van het bijbehorende jaargang
Alle artikelen van de bijbehorende aflevering
Details van artikel 8 van 11 gevonden artikelen
| Titel: |
Non-linear stable inversion-based output tracking control for a spherical inverted pendulum |
| Auteur: |
Liu, Guangyu Nesic, Dragan Mareels, Iven |
| Verschenen in: |
International journal of control |
| Paginering: | Jaargang 81 (2008) nr. 1 pagina's 116-133 |
| Jaar: |
2008-01 |
| Inhoud: |
We design an exact output tracking control law for a four degree of freedom spherical inverted pendulum based on the non-linear stable inversion tool proposed by Devasia et al. (1989). The pendulum is a slim cylindrical beam attached to a horizontal plane via a universal joint; the joint is free to move in the plane under the influence of a planar force. The upright position is an unstable equilibrium of the uncontrolled system because of gravity. The objective is to design a controller so that the pendulum can be steered to track some smooth desired translational trajectories while keeping the pendulum tightly around the upright position. The design proceeds in three steps: 1. identification of the internal dynamics; 2. feedforward control design for achievable trajectories; 3. feedback design to stabilize the achievable trajectories. The computer simulations show that the proposed controller can deliver excellent tracking performance. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 8 van 11 gevonden artikelen
| << vorige | volgende >> |