About: Underactuated double pendulum stabilization with and without drift using harmonics

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://www.kme.zcu.cz/vm2012/index.php
Description	The paper deals with the point-to-point control of the double inverted pendulum on the cart across the singular positions in the gravity field and without any potential field. The goal is to find the control that can drive system into any desired position including singular positions. The control to the singular positions and stabilizing the system around them requires new modified definition of the reaching a state and the stability. This is a part of new control approach described in the paper. There is used harmonics based control approach to reach the aim. The system is first converted using input-output linearization, the invariant component of the control is introduced and then the method based on harmonics for the determination of the invariant control is developed. It is modification of the predictive control. The paper deals with the point-to-point control of the double inverted pendulum on the cart across the singular positions in the gravity field and without any potential field. The goal is to find the control that can drive system into any desired position including singular positions. The control to the singular positions and stabilizing the system around them requires new modified definition of the reaching a state and the stability. This is a part of new control approach described in the paper. There is used harmonics based control approach to reach the aim. The system is first converted using input-output linearization, the invariant component of the control is introduced and then the method based on harmonics for the determination of the invariant control is developed. It is modification of the predictive control. (en)
Title	Underactuated double pendulum stabilization with and without drift using harmonics Underactuated double pendulum stabilization with and without drift using harmonics (en)
skos:prefLabel	Underactuated double pendulum stabilization with and without drift using harmonics Underactuated double pendulum stabilization with and without drift using harmonics (en)
skos:notation	RIV/68407700:21220/12:00201413!RIV13-MSM-21220___
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM6840770003)
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Valášek, Michael Neusser, Zdeněk
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta strojní
http://linked.open...dnocenehoVysledku	175932
http://linked.open...ai/riv/idVysledku	RIV/68407700:21220/12:00201413
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	underactuated systems; nonlinear control; mechanical systems (en)
http://linked.open.../riv/klicoveSlovo	nonlinear control underactuated systems mechanical systems
http://linked.open...ontrolniKodProRIV	[AF773661F977]
http://linked.open...v/mistoKonaniAkce	Špičák, Železná Ruda
http://linked.open...i/riv/mistoVydani	Plzeň
http://linked.open...i/riv/nazevZdroje	28th conference with international participation COMPUTATIONAL MECHANICS 2012- Extended abstracts
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Valášek, Michael Neusser, Zdeněk
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2012-11-12 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Rozvoj algoritmů počítačových simulací a jejich aplikace v inženýrství
number of pages	2 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Západočeská univerzita v Plzni. Fakulta aplikovaných věd
https://schema.org/isbn	978-80-261-0157-4
http://localhost/t...ganizacniJednotka	21220

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