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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 2019 American Control Conference (ACC)

ISBN

978-1-5386-7928-9

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

4399-4405

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Philadelphia

Datum konání akce

10. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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