期刊
JOURNAL OF ELECTRICAL ENGINEERING-ELEKTROTECHNICKY CASOPIS
卷 64, 期 3, 页码 152-158出版社
SLOVAK UNIV TECHNOLOGY
DOI: 10.2478/jee-2013-0022
关键词
furuta pendulum; swing-up; stabilization; predictive control; constraints
资金
- Slovak Research and Development Agency [APVV-0280-06, APVV-0090-10]
This paper deals with certain options on controlling an inverted rotary pendulum also known as the Puruta pendulum. Controlling an inverted pendulum involves two stages. The first stage is the swing up of the pendulum and the second stage is its balancing in the up-right position. The paper describes two possibilities on swinging up the pendulum. First one is the classical approach based on comparing the current total (potential and kinetic) energy of the system with the energy in its stabilized up-right position. The second option uses an exponentiation operation over the pendulum position since the trend of power law function is very convenient for determining the amount of required energy to be delivered to the system. For the purposes of balancing the pendulum in the up-right position a predictive controller based on optimal control law with perturbation was proposed, which is an LQ controller with control signal corrections when constraints are exceeded. The results are illustrated by real-time experiments on a laboratory rotary inverted pendulum setup.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据