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Pregled bibliografske jedinice broj: 388238

Modeling and Control of a Pneumatically Actuated Inverted Pendulum

Žilić, Tihomir; Pavković, Danijel; Zorc, Davor
Modeling and Control of a Pneumatically Actuated Inverted Pendulum // ISA transactions, 48 (2009), 3; 327-335 doi:10.1016/j.isatra.2009.03.004 (međunarodna recenzija, članak, znanstveni)

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Naslov
Modeling and Control of a Pneumatically Actuated Inverted Pendulum

Autori
Žilić, Tihomir ; Pavković, Danijel ; Zorc, Davor

Izvornik
ISA transactions (0019-0578) 48 (2009), 3; 327-335

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
pneumatic systems; modeling; friction; optimization methods; Linear-Quadratic control; Linear-Quadratic-Gaussian control

Sažetak
This paper presents the results of modeling of an inverted pendulum system driven by a linear pneumatic motor and equipped with relatively low-cost potentiometer-based position measurement system. Based on the nonlinear model of the overall pendulum system, which also includes notable friction effects, a linearized model is derived. The linearized model is used as a basis for the design of state feedback controller based on LQ and LQG optimization procedures. The linear state feedback controllers are augmented by a compensator of nonlinear friction effects whose design is based on the results of experimental identification of an appropriate static friction model. The proposed pendulum controller structures have been verified by means of computer simulations and experimentally on the experimental setup of pneumatically actuated inverted pendulum.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo



POVEZANOST RADA

Projekti:
120-0000000-3316 - Modeliranje strojnog ponašanja za montažu, pakiranje i demontažu (Kunica, Zoran, MZOS ) ( CroRIS)
120-0361621-1896 - MODELIRANJE I UPRAVLJANJE HIBRIDNIM VOZILIMA (Petrić, Joško, MZOS ) ( CroRIS)
120-1201842-1839 - Optimalno upravljanje energijom u fluidnoj tehnici i elektromehaničkim sustavima (Šitum, Željko, MZOS ) ( CroRIS)

Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb

Profili:

Avatar Url Tihomir Žilić (autor)

Avatar Url Davor Zorc (autor)

Avatar Url Danijel Pavković (autor)

Poveznice na cjeloviti tekst rada:

doi www.sciencedirect.com 10.1016

Citiraj ovu publikaciju:

Žilić, Tihomir; Pavković, Danijel; Zorc, Davor
Modeling and Control of a Pneumatically Actuated Inverted Pendulum // ISA transactions, 48 (2009), 3; 327-335 doi:10.1016/j.isatra.2009.03.004 (međunarodna recenzija, članak, znanstveni)
Žilić, T., Pavković, D. & Zorc, D. (2009) Modeling and Control of a Pneumatically Actuated Inverted Pendulum. ISA transactions, 48 (3), 327-335 doi:10.1016/j.isatra.2009.03.004.
@article{article, author = {\v{Z}ili\'{c}, Tihomir and Pavkovi\'{c}, Danijel and Zorc, Davor}, year = {2009}, pages = {327-335}, DOI = {10.1016/j.isatra.2009.03.004}, keywords = {pneumatic systems, modeling, friction, optimization methods, Linear-Quadratic control, Linear-Quadratic-Gaussian control}, journal = {ISA transactions}, doi = {10.1016/j.isatra.2009.03.004}, volume = {48}, number = {3}, issn = {0019-0578}, title = {Modeling and Control of a Pneumatically Actuated Inverted Pendulum}, keyword = {pneumatic systems, modeling, friction, optimization methods, Linear-Quadratic control, Linear-Quadratic-Gaussian control} }
@article{article, author = {\v{Z}ili\'{c}, Tihomir and Pavkovi\'{c}, Danijel and Zorc, Davor}, year = {2009}, pages = {327-335}, DOI = {10.1016/j.isatra.2009.03.004}, keywords = {pneumatic systems, modeling, friction, optimization methods, Linear-Quadratic control, Linear-Quadratic-Gaussian control}, journal = {ISA transactions}, doi = {10.1016/j.isatra.2009.03.004}, volume = {48}, number = {3}, issn = {0019-0578}, title = {Modeling and Control of a Pneumatically Actuated Inverted Pendulum}, keyword = {pneumatic systems, modeling, friction, optimization methods, Linear-Quadratic control, Linear-Quadratic-Gaussian control} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus
  • MEDLINE

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