Autor:
Breganon, Ricardo ; Alves, Uiliam Nelson LT ; De Almeida, Joao Paulo LS ; Ribeiro, Fernando SF ; Mendonça, Marcio ; Palácios, Rodrigo HC ; Montezuma, Marcio AF
Współtwórca:
Tytuł:
Loop-shaping H[the sign of infinity] control of an aeropendulum model
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
dynamic system modeling ; aeropendulum ; H[the sign of infinity] control
Abstract:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
Format:
DOI:
Strony:
Źródło:
IJAME, volume 26, number 4 (2021)