Lyapunov Based Adaptive Control for Varying Length Pendulum with Unknown Viscous Friction

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F21%3A00543020" target="_blank" >RIV/67985556:_____/21:00543020 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/PC52310.2021.9447539" target="_blank" >http://dx.doi.org/10.1109/PC52310.2021.9447539</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC52310.2021.9447539" target="_blank" >10.1109/PC52310.2021.9447539</a>

Result language
angličtina
Original language name
Lyapunov Based Adaptive Control for Varying Length Pendulum with Unknown Viscous Friction
Original language description
Varying length pendulum is studied here to address its oscillations damping using conveniently generated Coriolis force. Lateral damping friction is assumed to be practically negligible and therefore it is not included in the model. Magnitude of the Coriolis force is equal to the product of the angular swing velocity and the velocity of the change of the string length. As a consequence, the problem is modelled by the nonlinear control system having non-controllable and non-stabilizable approximate linearization at the requested damped steady state. Lyapunov technique combined with backstepping design and control Lyapunov function selection is used to tackle this truly nonlinear problem. Furthermore, Lyapunov based adaptive estimation of the viscous friction at the string pivot is designed to improve the controller performance. Besides theoretical mathematical justification the simulations and the real-time experiments using laboratory test-bed are included to highlight the paper results.
Czech name
—
Czech description
—

Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2021 23rd International Conference on Process Control (PC)
ISBN
978-1-6654-0329-0
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
1-6
Publisher name
IEEE
Place of publication
Piscataway
Event location
Štrbské Pleso
Event date
Jun 1, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

Similar results(10)