Predictive Control of a Furuta Pendulum

被引：0

作者：

Duarte Madrid, Juan Libardo ^{[1
]}

Gonzalez Querubin, E. A. ^{[1
]}

Ospina-Henao, P. A. ^{[2
]}

机构：

[1] Univ Santo Tomas, Fac Ingn Mecatron, Bucaramanga, Colombia

[2] Univ Santo Tomas, Dept Ciencias Basicas, Bucaramanga, Colombia

来源：

2017 IEEE 3RD COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL (CCAC) | 2017年

关键词：

Dynamic modeling; Euler-Lagrange formalism; Furuta pendulum; linearization; predictive control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic modeling of a Furuta pendulum using Euler-Lagrange formalism which allows to find the equations of motion described by the model is presented. A basic design of the system mechanical structure was built in SOLIDWORKS software, which provided the required physical variables for modeling based on the defined material and dimensions of the pendulum prototype. Taylor series were used to obtain a linear model of the system and to design the predictive control in state space. This strategy allows control over the Furuta pendulum taking into account restrictions in its manipulated and controlled variables.

引用

页数：6

共 16 条

[1] Al-Jodah A, 2013, 2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2013), P417, DOI 10.1109/ICCSCE.2013.6720001
[2] Almurib H., 2010, 1 INT C EN POW CONTR
[3] Camacho E., 2004, Revista Iberoamericana de Automatica e Informatica Industrial, V1, P5, DOI DOI 10.4995/RIAI
[4] Careaga A., 2013, FURUTA PENDULUM
[5] Dang Q., 2014, IEEE S COMP INT CONT
[6] Escobar-Davila Luisa F., 2013, Tecnologicas, V30, P71
[7] Alternatives of Control for a Furuta's Pendulum
Gonzalez Fontanet, Javier Gonzalo
Lusson Cervantes, Ania
Bausa Ortiz, Irina
[J]. REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2016, 13 (04): : 410 - 420
[8] Kelly R., 2003, Control de movimiento de robots manipuladores
[9] Khanesar M., 2017, MED C CONTR AUT ATH
[10] Lima B., 2017, IOP C SERIES J PHYS, V783

← 1 2 →