Underactuated pendulum damping by its length adjustment and passive output selection

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F20%3A00524317" target="_blank" >RIV/67985556:_____/20:00524317 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.23919/ECC51009.2020.9143754" target="_blank" >http://dx.doi.org/10.23919/ECC51009.2020.9143754</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.23919/ECC51009.2020.9143754" target="_blank" >10.23919/ECC51009.2020.9143754</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Underactuated pendulum damping by its length adjustment and passive output selection

Popis výsledku v původním jazyce

Nonlinear passivity-based feedback controller to damp oscillations of the underactuated pendulum-like system via the active modification of the length of the suspension pendulum string is presented here. The structurally rich family of convenient virtual outputs making that system input-output passive will be determined and various asymptotically stabilizing feedback laws will be computed based on them. Among those controllers two qualitatively different cases were tested both in simulations and laboratory real-time experiments. First of them does not require the angular velocity measurement and guarantees that the string length does not exceed the maximum of its initial and its nominal (i.e., the ideal operational) value. The second one, on the contrary, does not require the angle measurement and guarantees that the string length does not go bellow the minimum of its nominal length and its initial value. Both controllers can clearly nicely complement each other in various practical situations if application to a crane with suspended load is considered. Their performances were compared to some previously published approaches as well.

Název v anglickém jazyce

Underactuated pendulum damping by its length adjustment and passive output selection

Popis výsledku anglicky

Nonlinear passivity-based feedback controller to damp oscillations of the underactuated pendulum-like system via the active modification of the length of the suspension pendulum string is presented here. The structurally rich family of convenient virtual outputs making that system input-output passive will be determined and various asymptotically stabilizing feedback laws will be computed based on them. Among those controllers two qualitatively different cases were tested both in simulations and laboratory real-time experiments. First of them does not require the angular velocity measurement and guarantees that the string length does not exceed the maximum of its initial and its nominal (i.e., the ideal operational) value. The second one, on the contrary, does not require the angle measurement and guarantees that the string length does not go bellow the minimum of its nominal length and its initial value. Both controllers can clearly nicely complement each other in various practical situations if application to a crane with suspended load is considered. Their performances were compared to some previously published approaches as well.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the European Control Conference (ECC 2020)

ISBN

978-1-7281-8813-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

100-105

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Saint Petersburg

Datum konání akce

12. 5. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000613138000018