Temat: inverted pendulum control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Electro pneumatic control system for inverted pendulum
Autorzy:: Popławski, Krzysztof
Ambroziak, Leszek
Kondratiuk, Mirosław
Powiązania:: https://bibliotekanauki.pl/articles/386941.pdf
Data publikacji:: 2020
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: inverted pendulum
pneumatic actuator
inverted pendulum control
encoder
stabilization
Opis:: The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendu-lum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as addi-tional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.
Źródło:: Acta Mechanica et Automatica; 2020, 14, 2; 91-97
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Robust LFT-LPV H∞ control of an underactuated inverted pendulum on a cart with optimal weighting functions selection by ga and es
Autorzy:: Hasseni, Seif-El-Islam
Abdoul, Latifa
Powiązania:: https://bibliotekanauki.pl/articles/1837922.pdf
Data publikacji:: 2020
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: inverted pendulum on a cart
robust control
underactuated systems
linear parameter varying systems
H∞
Opis:: This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measure-ment noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is devel-oped. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions’ optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signals, as well as the parametric uncertainties.
Źródło:: Acta Mechanica et Automatica; 2020, 14, 4; 186-197
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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