Title :
Swarm Control Designs applied to a non-ideal load transportation system
Author :
Chavarette, Fábio Roberto ; Guilherme, Ivan Rizzo ; do Nascimento, Orlando Saraiva ; Peruzzi, Nelson José ; Balthazar, José Manoel
Author_Institution :
Eng. Center, Ometto Herminio Univ. Center at Araras-UNIARARAS, Araras, Brazil
Abstract :
In this paper, a load transport system in platforms is considered. It is a transport device and is modelled as an inverted pendulum built on a car driven by a DC motor. The motion equations were obtained by Lagrange´s equations. The mathematical model considers the interaction between the DC motor and the dynamic system. The dynamic system was analysed and a Swarm Control Design was developed to stabilize the model of this load transport system.
Keywords :
DC motors; automobiles; nonlinear systems; particle swarm optimisation; DC motor; Lagrange equation; car; inverted pendulum; motion equation; nonideal load transportation system; swarm control design; Chaos; Control design; Control systems; DC motors; Equations; Load modeling; Mathematical model; Production; Transportation; Vibrations;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vi a del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472666
