DocumentCode
391010
Title
Digital balancing of systems with backlash
Author
Kollár, László E. ; Stépán, Gabor ; Turi, János
Author_Institution
Dept. of Math. Sci., Texas Univ., Dallas, TX, USA
Volume
3
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
3106
Abstract
In the paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.
Keywords
bifurcation; delays; digital control; discrete time systems; dynamics; nonlinear control systems; nonlinear dynamical systems; pendulums; position control; stability; backlash; cart; controlled pendulum; digital balancing; dynamics; elastic teeth belt; gear; inverted pendulum; nonlinearity; oscillation; time delays; upper equilibrium; Axles; Belts; Control systems; Delay effects; Electronic mail; Force control; Nonlinear equations; Piecewise linear techniques; Teeth; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184344
Filename
1184344
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