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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA21-03689S" target="_blank" >GA21-03689S: Nové přístupy k analýze a návrhu nelineárních regulátorů a kompenzátorů pružných a řetězcovitých mechanických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 2021 23rd International Conference on Process Control (PC)

ISBN

978-1-6654-0329-0

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Štrbské Pleso

Datum konání akce

1. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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