Počet záznamů: 1
Underactuated pendulum damping by its length adjustment and passive output selection
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SYSNO ASEP 0524317 Druh ASEP C - Konferenční příspěvek (mezinárodní konf.) Zařazení RIV D - Článek ve sborníku Název Underactuated pendulum damping by its length adjustment and passive output selection Tvůrce(i) Čelikovský, Sergej (UTIA-B) RID, ORCID
Anderle, Milan (UTIA-B) RID, ORCID
Vyhlídal, T. (CZ)Celkový počet autorů 3 Zdroj.dok. Proceedings of the European Control Conference (ECC 2020). - Piscataway : IEEE, 2020 - ISBN 978-1-7281-8813-3 Rozsah stran s. 100-105 Poč.str. 6 s. Forma vydání Tištěná - P Akce The European Control Conference (ECC 2020) Datum konání 12.05.2020 - 15.05.2020 Místo konání Saint Petersburg Země RU - Rusko Typ akce WRD Jazyk dok. eng - angličtina Země vyd. US - Spojené státy americké Klíč. slova Passivity-based feedback controll ; Laboratory real-time experiments ; Underactuated pendulum Vědní obor RIV BC - Teorie a systémy řízení Obor OECD Robotics and automatic control Institucionální podpora UTIA-B - RVO:67985556 UT WOS 000613138000018 EID SCOPUS 85090160657 DOI 10.23919/ECC51009.2020.9143754 Anotace Nonlinear passivity-based feedback controller to damp oscillations of the underactuated pendulum-like system via the active modification of the length of the suspension pendulum string is presented here. The structurally rich family of convenient virtual outputs making that system input-output passive will be determined and various asymptotically stabilizing feedback laws will be computed based on them. Among those controllers two qualitatively different cases were tested both in simulations and laboratory real-time experiments. First of them does not require the angular velocity measurement and guarantees that the string length does not exceed the maximum of its initial and its nominal (i.e., the ideal operational) value. The second one, on the contrary, does not require the angle measurement and guarantees that the string length does not go bellow the minimum of its nominal length and its initial value. Both controllers can clearly nicely complement each other in various practical situations if application to a crane with suspended load is considered. Their performances were compared to some previously published approaches as well. Pracoviště Ústav teorie informace a automatizace Kontakt Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Rok sběru 2021
Počet záznamů: 1