Pregled bibliografske jedinice broj: 517190
TP transformation based control of rotary pendulum
TP transformation based control of rotary pendulum // 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 (ur.).
Zagreb: Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO, 2011. str. 99-105 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), stručni)
CROSBI ID: 517190 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
TP transformation based control of rotary pendulum
Autori
Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), stručni
Izvornik
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, 2011, 99-105
ISBN
978-953-233-062-5
Skup
MIPRO: 34th international convention on information and communication technology, electronics and microelectronics
Mjesto i datum
Opatija, Hrvatska, 23.05.2011. - 27.05.2011
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Parallel distributed compensation; linear matrix inequalities; TP model transformation; rotary pendulum gantry (RPG); position control; sway control; inverted pendulum
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Projekti:
036-0363078-1629 - Upravljanje složenim elektromehaničkim sustavima za manipulacije u transportu (Kolonić, Fetah, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
