TP transformation based control of rotary pendulum (CROSBI ID 573696)
Prilog sa skupa u zborniku | stručni rad | međunarodna recenzija
Podaci o odgovornosti
Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah
engleski
TP transformation based control of rotary pendulum
The Tensor Product (TP) model transformation is a recently proposed technique for transformation of a given Linear Parameter Varying (LPV) state-space model into polytopic model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a relatively short time and the Linear Matrix Inequality (LMI)-based control design frameworks can immediately be applied to the resulting polytopic models. In this paper, such control approach of nonlinear systems is applied to the control of rotary pendulum gantry. Pendulum in hanging position represents simplified model of the real industry crane application. On the other hand, inverted pendulum is a classic problem in dynamics and control theory and widely used as a benchmark for testing control algorithms. In order to reach upright position, self erecting technique is employed. LMI control algorithm obtained for both positions is merged using self erecting control algorithm and tested in real experimental setup.
Parallel distributed compensation; linear matrix inequalities; TP model transformation; rotary pendulum gantry (RPG); position control; sway control; inverted pendulum
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Podaci o prilogu
99-105.
2011.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 34th International Convention on Information and Communication Technology, Electronics and Microelectronics, Volume III. Computers in Technical Systems & Intelligent Systems
Bogunović, Nikola ; Ribarić, Slobodan
Zagreb: Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO
978-953-233-062-5
1847-3938
Podaci o skupu
MIPRO 2011
predavanje
23.05.2011-27.05.2011
Opatija, Hrvatska