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https://dspace.ctu.edu.vn/jspui/handle/123456789/68904
Title: | Comparison between two swing-up algorithms: partial feedback linear and energy based method |
Authors: | Hong, Gia Bao Le, Thi Thanh Hoang Nguyen, Minh Tam Vu, Dinh Dat Nguyen, Van Dong Hai |
Keywords: | Pendubot Swing-up Partial feedback linear Energy-based Balancing control Under-actuated system |
Issue Date: | 2019 |
Series/Report no.: | Tạp chí Khoa học Giáo dục Kỹ thuật;Số 55 .- Tr.01-06 |
Abstract: | Beside the balancing algorithms, swing-up is also an important problem in controlling under-actuated system. Swing-up is necessary to move automatically system to a suitable position for others balancing controls to operate. However, a limited number of researches has been focused on this problem. In this paper, the authors compare two swing-up algorithms from other researches: partial feedback linear and energy-based methods in both simulation and experiment. In previous studies, these methods were presented in only a mathematical description and simulation. Moreover, no comparison was concerned between these methods. Thence, experimental results from this paper implement more descriptions in a real-time system. Our both simulation and experiment results prove that recent energy-based method gives better controlling response than classical partial feedback linear method under external force. In this research, pendubot, a popular model in control engineering, is an under-actuated object. |
URI: | https://dspace.ctu.edu.vn/jspui/handle/123456789/68904 |
ISSN: | 1859-1272 |
Appears in Collections: | Khoa học Giáo dục Kỹ thuật |
Files in This Item:
File | Description | Size | Format | |
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_file_ Restricted Access | 1.84 MB | Adobe PDF | ||
Your IP: 18.191.171.72 |
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