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Description
  • Tento příspěvek se zabývá návrhem a realizací řídícího systému pro dvoukolový vozík s jedním inverzním kyvadlem. Model je vytvořen pomocí Lagrangeových rovnic. Linearizován a převedem do stavového popisu. Řídící algoritmus je rozdělen do dvou částí. První část zajišťuje stabilitu kyvadla ve vzpřímené poloze s respektováním dané polohy vozíku. Druhá část pak zajišťuje požadovaný pohyb po dané trajektorii. chování systému bylo simulováno v prostředí Matlab/SimMechanics. Dosažené výsledky byly otestovány a úspěšně použity i na reálném systému. (cs)
  • This paper deals with projecting and realization of a control system of a two-wheel cart with one inverted pendulum. First the model is derived by means of Lagrange equation methods. Then the LTI state space model is obtained by linearization. The control algorithm is divided into two parts. The first one is the feedback control to stabilize the pendulum in an upright position with respect to the position of the cart. The second one is the feedforward control for trajectory tracking of the cart. The control law and the behaviour simulation of a given model was done in Matlab/Simulink/SimMechanics environment. The achieved results were simulated and successfully used also in a real system.
  • This paper deals with projecting and realization of a control system of a two-wheel cart with one inverted pendulum. First the model is derived by means of Lagrange equation methods. Then the LTI state space model is obtained by linearization. The control algorithm is divided into two parts. The first one is the feedback control to stabilize the pendulum in an upright position with respect to the position of the cart. The second one is the feedforward control for trajectory tracking of the cart. The control law and the behaviour simulation of a given model was done in Matlab/Simulink/SimMechanics environment. The achieved results were simulated and successfully used also in a real system. (en)
Title
  • Stabilization and motion control of a inverted pendulum on a two wheel cart
  • Stabilization and motion control of a inverted pendulum on a two wheel cart (en)
  • Stabilizace a řízení pohybu inverzního kyvadla na dvokolovém vozíku (cs)
skos:prefLabel
  • Stabilization and motion control of a inverted pendulum on a two wheel cart
  • Stabilization and motion control of a inverted pendulum on a two wheel cart (en)
  • Stabilizace a řízení pohybu inverzního kyvadla na dvokolovém vozíku (cs)
skos:notation
  • RIV/49777513:23520/07:00000009!RIV08-MPO-23520___
http://linked.open.../vavai/riv/strany
  • 218-223
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(FI-IM3/056)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 451985
http://linked.open...ai/riv/idVysledku
  • RIV/49777513:23520/07:00000009
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • inverted pendulum, state-space model, linearization, state feedback, trajectory tracking (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [43060FC9B5C0]
http://linked.open...v/mistoKonaniAkce
  • Plzeň
http://linked.open...i/riv/mistoVydani
  • Plzeň
http://linked.open...i/riv/nazevZdroje
  • The 1st Young Researchers Conference on Applied Sciences
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Bláha, Lukáš
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://purl.org/ne...btex#hasPublisher
  • Západočeská univerzita v Plzni
https://schema.org/isbn
  • 978-80-7043-574-8
http://localhost/t...ganizacniJednotka
  • 23520
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