Details
| Originalsprache | Englisch |
|---|---|
| Seiten | 1-6 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 14 Dez. 2017 |
| Veranstaltung | 2017 XVII Workshop on Information Processing and Control (RPIC) - Mar del Plata, Argentina, Mar del Plata, Argentinien Dauer: 20 Sept. 2017 → 22 Sept. 2017 |
Konferenz
| Konferenz | 2017 XVII Workshop on Information Processing and Control (RPIC) |
|---|---|
| Land/Gebiet | Argentinien |
| Ort | Mar del Plata |
| Zeitraum | 20 Sept. 2017 → 22 Sept. 2017 |
Abstract
Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Computernetzwerke und -kommunikation
- Informatik (insg.)
- Signalverarbeitung
- Mathematik (insg.)
- Steuerung und Optimierung
- Informatik (insg.)
- Artificial intelligence
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2017. 1-6 Beitrag in 2017 XVII Workshop on Information Processing and Control (RPIC), Mar del Plata, Argentinien.
Publikation: Konferenzbeitrag › Paper › Forschung › Peer-Review
}
TY - CONF
T1 - Optimal control for balancing a rotary inverted pendulum: An experimental setting
AU - Herrera, Daniel
AU - Monllor, Matias
AU - Carelli, Ricardo O.
AU - Carstensen, Jan Carsten
AU - Wagner, Bernardo
N1 - Publisher Copyright: © 2017 Comisión Permanente RPIC. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
AB - Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
KW - lqr control
KW - modeling and identification
KW - rip prototype
KW - rotary inverted pendulum
UR - http://www.scopus.com/inward/record.url?scp=85046409139&partnerID=8YFLogxK
M3 - Paper
SP - 1
EP - 6
T2 - 2017 XVII Workshop on Information Processing and Control (RPIC)
Y2 - 20 September 2017 through 22 September 2017
ER -