Damping a pendulum’s swing by string length adjustment - design and comparison of various control methods

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00507012" target="_blank" >RIV/67985556:_____/19:00507012 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.23919/ACC.2019.8814293" target="_blank" >http://dx.doi.org/10.23919/ACC.2019.8814293</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.23919/ACC.2019.8814293" target="_blank" >10.23919/ACC.2019.8814293</a>

Result language
angličtina
Original language name
Damping a pendulum’s swing by string length adjustment - design and comparison of various control methods
Original language description
A novel nonlinear control theory based feedback controller is proposed to damp the oscillations of the suspended load (pendulum) using the active modification of the length ofthe suspension string. This setting is a highly nonlinear one since the approximate linearization around the equilibrium working point is neither controllable, nor asymptotically stabilizable. The nonlinear design of the control law is therefore based on the conveniently selected control Lyapunov function. The resulting control law is then compared to the previously developed timedelay feedback control law, both in simulations and using the laboratory experimental realization of the suspended load system. Despite the fact that in the simulations the time-delay feedback control law suppresses the oscillations better than the nonlinear control law, in the experiments the performance of the time-delay feedback and of the nonlinear control law are rather similar. Moreover, the former keeps the pendulum string length oscillating, the latter stabilizes the nominal string length as well. Finally, the numerical optimization shows that the ideal damping would be provided by the impulsive-like control producing piece-wise constant string length dynamics.
Czech name
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Czech description
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Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2019 American Control Conference (ACC)
ISBN
978-1-5386-7928-9
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
4399-4405
Publisher name
IEEE
Place of publication
Piscataway
Event location
Philadelphia
Event date
Jul 10, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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