Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator
Samo za registrovane korisnike
2017
Konferencijski prilog (Objavljena verzija)
Metapodaci
Prikaz svih podataka o dokumentuApstrakt
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.
Ključne reči:
robust control / Pendubot / inverted pendulum / fractional control / D-decomposition / asymptotic stabilityIzvor:
Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017, 2017, 1911-1916Izdavač:
- Institute of Electrical and Electronics Engineers Inc.
Finansiranje / projekti:
- Serbia-China bilateral project [3-12
- Dinamika hibridnih sistema složenih struktura. Mehanika materijala (RS-MESTD-Basic Research (BR or ON)-174001)
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Povećanje energetske efikasnosti HE i TE EPS-a razvojem tehnologije i uređaja energetske elektronike za regulaciju i automatizaciju (RS-MESTD-Technological Development (TD or TR)-33020)
- Inteligentni sistemi upravljanja klimatizacije u cilju postizanja energetski efikasnih režima u složenim uslovima eksploatacije (RS-MESTD-Technological Development (TD or TR)-33047)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Sekara, Tomislav B. AU - Cajić, Milan AU - Bučanović, Ljubiša PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2693 AB - 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. PB - Institute of Electrical and Electronics Engineers Inc. C3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 T1 - Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator EP - 1916 SP - 1911 DO - 10.1109/CCDC.2017.7978829 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B. and Cajić, Milan and Bučanović, Ljubiša", year = "2017", 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.", publisher = "Institute of Electrical and Electronics Engineers Inc.", journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017", title = "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator", pages = "1916-1911", doi = "10.1109/CCDC.2017.7978829" }
Mandić, P., Lazarević, M., Sekara, T. B., Cajić, M.,& Bučanović, L.. (2017). Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 Institute of Electrical and Electronics Engineers Inc.., 1911-1916. https://doi.org/10.1109/CCDC.2017.7978829
Mandić P, Lazarević M, Sekara TB, Cajić M, Bučanović L. Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:1911-1916. doi:10.1109/CCDC.2017.7978829 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., Cajić, Milan, Bučanović, Ljubiša, "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):1911-1916, https://doi.org/10.1109/CCDC.2017.7978829 . .