The double inverted pendulum with real mass distribution stabilization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F23%3A00573454" target="_blank" >RIV/67985556:_____/23:00573454 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/CoDIT58514.2023.10284170" target="_blank" >http://dx.doi.org/10.1109/CoDIT58514.2023.10284170</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CoDIT58514.2023.10284170" target="_blank" >10.1109/CoDIT58514.2023.10284170</a>

Jazyk výsledku

angličtina

Název v původním jazyce

The double inverted pendulum with real mass distribution stabilization

Popis výsledku v původním jazyce

The stabilization of the real laboratory model of the underacuated double inverted pendulum having the actuator placed between its links and a realizable mass distribution adjustment is presented here. More specifically, this laboratory model is to be stabilized at its upper equilibrium with both links being stretched along a single line and pendulum achieving the maximal possible length. This paper presents various methods to design the stabilizing feedback for the double inverted pendulum actuated between its links and then performs optimization of the model with respect to masses distributions to minimize the controller torques. First, the open-loop control taking the double pendulum to the upper equilibrium is computed from various positions using the optimization tool FMINCON to minimize the torque energy with respect to the mass distribution parameters. Then the optimized parameters are used to test both the LQ feedback for local approximate linearization and the partial exact feedback linearization based nonlinear controller. Both simulations and laboratory experiments using a single leg of the walking-like four link experimental model are presented. The optimized mass distribution will be used in the future four-link development to facilitate its walking design.

Název v anglickém jazyce

The double inverted pendulum with real mass distribution stabilization

Popis výsledku anglicky

The stabilization of the real laboratory model of the underacuated double inverted pendulum having the actuator placed between its links and a realizable mass distribution adjustment is presented here. More specifically, this laboratory model is to be stabilized at its upper equilibrium with both links being stretched along a single line and pendulum achieving the maximal possible length. This paper presents various methods to design the stabilizing feedback for the double inverted pendulum actuated between its links and then performs optimization of the model with respect to masses distributions to minimize the controller torques. First, the open-loop control taking the double pendulum to the upper equilibrium is computed from various positions using the optimization tool FMINCON to minimize the torque energy with respect to the mass distribution parameters. Then the optimized parameters are used to test both the LQ feedback for local approximate linearization and the partial exact feedback linearization based nonlinear controller. Both simulations and laboratory experiments using a single leg of the walking-like four link experimental model are presented. The optimized mass distribution will be used in the future four-link development to facilitate its walking design.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

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

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 9th 2023 International Conference on Control, Decision and Information Technologies (CoDit 2023)

ISBN

979-8-3503-1141-9

ISSN

2576-3555

e-ISSN

2576-3555

Počet stran výsledku

7

Strana od-do

0594

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Roma

Datum konání akce

3. 7. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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