Number of the records: 1
Underactuated pendulum damping by its length adjustment and passive output selection
- 1.
SYSNO ASEP 0524317 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Underactuated pendulum damping by its length adjustment and passive output selection Author(s) Čelikovský, Sergej (UTIA-B) RID, ORCID
Anderle, Milan (UTIA-B) RID, ORCID
Vyhlídal, T. (CZ)Number of authors 3 Source Title Proceedings of the European Control Conference (ECC 2020). - Piscataway : IEEE, 2020 - ISBN 978-1-7281-8813-3 Pages s. 100-105 Number of pages 6 s. Publication form Print - P Action The European Control Conference (ECC 2020) Event date 12.05.2020 - 15.05.2020 VEvent location Saint Petersburg Country RU - Russian Federation Event type WRD Language eng - English Country US - United States Keywords Passivity-based feedback controll ; Laboratory real-time experiments ; Underactuated pendulum Subject RIV BC - Control Systems Theory OECD category Robotics and automatic control Institutional support UTIA-B - RVO:67985556 UT WOS 000613138000018 EID SCOPUS 85090160657 DOI https://doi.org/10.23919/ECC51009.2020.9143754 Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2021
Number of the records: 1