Title :
Velocity control and vibration attenuation for a cart-pendulum system with Delayed Resonators
Author :
Koumboulis, Fotis N. ; Kouvakas, Nikolaos D. ; Paraskevopoulos, Paraskevas N.
Author_Institution :
Dept. of Autom., Halkis Inst. of Technol., Psahna Evoias, Greece
Abstract :
A dynamic output feedback controller involving delays is designed for a cart - pendulum system with active and passive vibration absorption. The active vibration absorption involves a couple of Delayed Resonators feeding back the resonators´ acceleration. The active vibration cart - pendulum system is modeled here as a neutral time delay nonlinear system. The proposed design technique aims to suppress the pendulum angle variations while simultaneously to achieve forward cart velocity command following. The good performance of the proposed controller is demonstrated via computational experiments.
Keywords :
delays; feedback; nonlinear control systems; pendulums; resonators; velocity control; vibration control; active vibration absorption; cart-pendulum system; delayed resonator; dynamic output feedback controller; forward cart velocity command following; neutral time delay nonlinear system; passive vibration absorption; pendulum angle variation; velocity control; vibration attenuation; Absorption; Acceleration; Attenuation; Control systems; Delay effects; Delay systems; Nonlinear dynamical systems; Output feedback; Velocity control; Vibration control;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5280944
