Title :
Implementation of an inertial controller for a 2-DOF platform
Author :
Pérez, C. ; Rubio, Francisco R.
Author_Institution :
Dept. Ingenieria de Sistemas y Automatica, Seville Univ., Spain
Abstract :
This paper presents a control application for the stabilization of a platform with two degrees of freedom. The purpose of this application is to control the velocities, which are measured in an inertial frame, rejecting the disturbances associated with moving components. A gain-scheduling controller based strategy is proposed and implemented, by way of which the desired specifications are accomplished
Keywords :
adaptive control; dynamics; position control; stability; velocity control; adaptive control; dynamics; gain scheduling; platform control; position Control; stabilization; velocity control; Automatic control; Equations; Friction; Lagrangian functions; Scheduling; Shafts; Torque control; Vehicle detection; Velocity control; Velocity measurement;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973944
