Underactuated double pendulum stabilization with and without drift using harmonics

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F12%3A00201413" target="_blank" >RIV/68407700:21220/12:00201413 - isvavai.cz</a>
Result on the web
<a href="http://www.kme.zcu.cz/vm2012/index.php" target="_blank" >http://www.kme.zcu.cz/vm2012/index.php</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Underactuated double pendulum stabilization with and without drift using harmonics
Original language description
The paper deals with the point-to-point control of the double inverted pendulum on the cart across the singular positions in the gravity field and without any potential field. The goal is to find the control that can drive system into any desired position including singular positions. The control to the singular positions and stabilizing the system around them requires new modified definition of the reaching a state and the stability. This is a part of new control approach described in the paper. Thereis used harmonics based control approach to reach the aim. The system is first converted using input-output linearization, the invariant component of the control is introduced and then the method based on harmonics for the determination of the invariantcontrol is developed. It is modification of the predictive control.
Czech name
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Czech description
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Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
28th conference with international participation COMPUTATIONAL MECHANICS 2012- Extended abstracts
ISBN
978-80-261-0157-4
ISSN
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e-ISSN
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Number of pages
2
Pages from-to
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Publisher name
Západočeská universita, Fakulta aplikovaných věd
Place of publication
Plzeň
Event location
Špičák, Železná Ruda
Event date
Nov 12, 2012
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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