Приказ основних података о документу
Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator
dc.creator | Mandić, Petar | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Sekara, Tomislav B. | |
dc.creator | Cajić, Milan | |
dc.creator | Bučanović, Ljubiša | |
dc.date.accessioned | 2022-09-19T18:18:44Z | |
dc.date.available | 2022-09-19T18:18:44Z | |
dc.date.issued | 2017 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2693 | |
dc.description.abstract | In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out. | en |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | |
dc.relation | Serbia-China bilateral project [3-12 | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Basic Research (BR or ON)/174001/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33020/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33047/RS// | |
dc.rights | restrictedAccess | |
dc.source | Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 | |
dc.subject | robust control | en |
dc.subject | Pendubot | en |
dc.subject | inverted pendulum | en |
dc.subject | fractional control | en |
dc.subject | D-decomposition | en |
dc.subject | asymptotic stability | en |
dc.title | Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator | en |
dc.type | conferenceObject | |
dc.rights.license | ARR | |
dc.citation.epage | 1916 | |
dc.citation.other | : 1911-1916 | |
dc.citation.rank | M33 | |
dc.citation.spage | 1911 | |
dc.identifier.doi | 10.1109/CCDC.2017.7978829 | |
dc.identifier.scopus | 2-s2.0-85028043123 | |
dc.identifier.wos | 000427082204088 | |
dc.type.version | publishedVersion |