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Description
  • This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.
  • This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart. (en)
Title
  • Control of the double inverted pendulum on a cart using the natural motion
  • Control of the double inverted pendulum on a cart using the natural motion (en)
skos:prefLabel
  • Control of the double inverted pendulum on a cart using the natural motion
  • Control of the double inverted pendulum on a cart using the natural motion (en)
skos:notation
  • RIV/68407700:21220/13:00210790!RIV14-MSM-21220___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM6840770003)
http://linked.open...iv/cisloPeriodika
  • 6
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
  • 66968
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21220/13:00210790
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • underactuated systems; nonlinear control; mechanical systems (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [18EF9DE0B2FF]
http://linked.open...i/riv/nazevZdroje
  • Acta Polytechnica
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 53
http://linked.open...iv/tvurceVysledku
  • Valášek, Michael
  • Neusser, Zdeněk
http://linked.open...n/vavai/riv/zamer
issn
  • 1210-2709
number of pages
http://bibframe.org/vocab/doi
  • 10.14311/AP.2013.53.0883
http://localhost/t...ganizacniJednotka
  • 21220
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