DocumentCode :
3221116
Title :
Mobile inverse pendulum modeling and control
Author :
Strah, Bruno ; Kern, Simon ; Felzer, Torsten ; Nordmann, Rainer ; Rinderknecht, Stephan
Author_Institution :
Inst. for Mechatron. Syst. in Mech. Eng. (IMS), Tech. Univ. Darmstadt, Darmstadt, Germany
fYear :
2010
fDate :
9-11 June 2010
Firstpage :
1133
Lastpage :
1138
Abstract :
Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
Keywords :
friction; mobile robots; nonlinear control systems; pendulums; state-space methods; Lagrange equation; dry friction; mobile inverse pendulum control; mobile inverse pendulum modeling; real system; state space control; Inverse problems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
ISSN :
1948-3449
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
Type :
conf
DOI :
10.1109/ICCA.2010.5524392
Filename :
5524392
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=3221116
بازگشت