Breganon, Ricardo ; Alves, Uiliam Nelson LT ; De Almeida, Joao Paulo LS ; Ribeiro, Fernando SF ; Mendonça, Marcio ; Palácios, Rodrigo HC ; Montezuma, Marcio AF
Inverted pendulum systems present high dynamic complexity and represent a challenge in the automatic control field due to their nonlinearity and unstable equilibrium point when the pendulum rod is at the vertical position. ; Several approaches and configurations of inverted pendulums are studied in the literature, such as the Furuta pendulum, the cart pendulum, the robot pendulum, the single propeller pendulum, among others. ; The aeropendulum system with two propellers has been also analyzed, which presents a dynamic behavior similar to the traditional helicopters and can be used as a didact tool for engineering studies. ; From a constructive perspective, the aeropendulum considered in this paper is a system composed of a pendulum rod with two sets of motors with propellers at its free extremity, while the other rod extremity is coupled to a rotational axis, which has an encoder to measure the angular position of the rod. In the literature use an adaptive Proportional-Integrative-Derivative (PID) controller for a system similar to this, where a Particle Swarm Optimization (PSO) and Fuzzy inference system algorithms were used to tune.
Zielona Góra: Uniwersytet Zielonogórski
IJAME, volume 26, number 4 (2021)
Biblioteka Uniwersytetu Zielonogórskiego
2023-07-06
2023-02-08
103
https://zbc.uz.zgora.pl/publication/77655
Nazwa wydania | Data |
---|---|
Loop-shaping H[the sign of infinity] control of an aeropendulum model. | 2023-07-06 |
Camargo, Lukas C. Bispo, Vitor Hugo S. Alves, Uiliam Nelson LT Ribeiro, Fernando SF Breganon, Ricardo Jurczak, Paweł - red.
Assawinchaichote, Wudhichai Korbicz, Józef - red. Uciński, Dariusz - red.
Zhai, Guisheng Chen, Ning Gui, Weihua Korbicz, Józef - red. Uciński, Dariusz - red.