Experimental Platform for Boundary Control of Mechanical Frenkel-Kontorova Model
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362160" target="_blank" >RIV/68407700:21230/22:00362160 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CDC51059.2022.9992448" target="_blank" >http://dx.doi.org/10.1109/CDC51059.2022.9992448</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CDC51059.2022.9992448" target="_blank" >10.1109/CDC51059.2022.9992448</a>
Alternative languages
Result language
angličtina
Original language name
Experimental Platform for Boundary Control of Mechanical Frenkel-Kontorova Model
Original language description
In this paper, we present a laboratory mechatronic platform for experimental demonstration and verification of various dynamical and control system phenomena exhibited by the Frenkel-Kontorova (FK) model – a spatially discretized version of the sine-Gordon equation. The platform consists of an array of spring-coupled pendulums pivoting around a single axis with the first and the last pendulums controlled by motors and all pendulums’ angles measured electronically. We first introduce and describe the platform, providing details of its mechatronic design and software architecture. All the design files are freely shared with the research community under an open-source license through a public repository. The platform can be used as a testbed for various control algorithms, e.g., for distributed control or control of flexible structures. In the second part of the paper, we showcase the platform using two control problem formulations tailored to the FK model. We discuss the practical motivation for studying these problems, propose methods for solving them, and experimentally demonstrate their functionality. In particular, the first control formulation deals with non-collocated stabilization of a single pendulum through one boundary of the array in the presence of a disturbance sent from the other boundary; the second control problem consists in synchronizing pendulums’ angular speeds. Other problems can certainly be formulated, solved, and demonstrated using the proposed platform whether for research or education purposes.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/GA21-07321S" target="_blank" >GA21-07321S: Persistent problems of repetitive control</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 61st IEEE Conference on Decision and Control
ISBN
978-1-6654-6761-2
ISSN
0743-1546
e-ISSN
2576-2370
Number of pages
6
Pages from-to
7618-7623
Publisher name
IEEE
Place of publication
Piscataway
Event location
Cancún
Event date
Dec 6, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000948128106055