Du är här

Manual Control and Stabilization of an Inverted Pendulum

Författare:
Redaktör:
  • Pavel Piztek
Publiceringsår: 2005
Språk: Engelska
Publikation/Tidskrift/Serie: Proceedings of the 16th IFAC World Congress
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

The problem of stabilizing an inverted pendulum on a cart while enabling manual control of the cart velocity is treated. Introduction of an input saturation nonlinearity makes the problem challenging in the sense that the system may be driven to a state where recovery is not possible. A controller based on the controllability set of the inverted pendulum, which ensures stability and tracking of constant reference velocities for the cart is developed. The controller also offers a trade-off between performance and robustness.

Disputation

Nyckelord

  • Technology and Engineering
  • Inverted Pendulum
  • Non-linear control
  • Controllability set

Övrigt

Published
Yes
  • ISBN: 0-08-045108-X

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen

LERU logo U21 logo