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dc.contributor.authorHong, Gia Bao-
dc.contributor.authorLe, Thi Thanh Hoang-
dc.contributor.authorNguyen, Minh Tam-
dc.contributor.authorVu, Dinh Dat-
dc.contributor.authorNguyen, Van Dong Hai-
dc.date.accessioned2021-11-23T08:08:09Z-
dc.date.available2021-11-23T08:08:09Z-
dc.date.issued2019-
dc.identifier.issn1859-1272-
dc.identifier.urihttps://dspace.ctu.edu.vn/jspui/handle/123456789/68904-
dc.description.abstractBeside 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.vi_VN
dc.language.isoenvi_VN
dc.relation.ispartofseriesTạp chí Khoa học Giáo dục Kỹ thuật;Số 55 .- Tr.01-06-
dc.subjectPendubotvi_VN
dc.subjectSwing-upvi_VN
dc.subjectPartial feedback linearvi_VN
dc.subjectEnergy-basedvi_VN
dc.subjectBalancing controlvi_VN
dc.subjectUnder-actuated systemvi_VN
dc.titleComparison between two swing-up algorithms: partial feedback linear and energy based methodvi_VN
dc.typeArticlevi_VN
Appears in Collections:Khoa học Giáo dục Kỹ thuật

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