Control of the cart pendulum system by using a fractional order PD controller
Апстракт
This paper deals with stability problem of cart inverted pendulum controlled by
a fractional order PD controller. Inverted pendulum is an underactuated mechanical
system because it has one control input and two degrees of freedom. Mathematical model
of cart pendulum system is derived and fractional order PD controller is introduced in order
to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing
controller. Problem of asymptotic stability of closed loop system is solved using the D decomposition approach. Stability regions in control parameters space are calculated
using this method, and tuning of the fractional order controller can be carried out.
Кључне речи:
inverted pendulum / fractional order PID / D-decomposition / asymptotic stabilityИзвор:
Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015, 2015, 557-562Издавач:
- Faculty of Mechanical Engineering University of Banja Luka
Финансирање / пројекти:
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
- Повећање енергетске ефикасности ХЕ и ТЕ ЕПС-а развојем технологије и уређаја енергетске електронике за регулацију и аутоматизацију (RS-MESTD-Technological Development (TD or TR)-33020)
- Интелигентни системи управљања климатизације у циљу постизања енергетски ефикасних режима у сложеним условима експлоатације (RS-MESTD-Technological Development (TD or TR)-33047)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Šekara, Tomislav PY - 2015 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4179 AB - This paper deals with stability problem of cart inverted pendulum controlled by a fractional order PD controller. Inverted pendulum is an underactuated mechanical system because it has one control input and two degrees of freedom. Mathematical model of cart pendulum system is derived and fractional order PD controller is introduced in order to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing controller. Problem of asymptotic stability of closed loop system is solved using the D decomposition approach. Stability regions in control parameters space are calculated using this method, and tuning of the fractional order controller can be carried out. PB - Faculty of Mechanical Engineering University of Banja Luka C3 - Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015 T1 - Control of the cart pendulum system by using a fractional order PD controller EP - 562 SP - 557 UR - https://hdl.handle.net/21.15107/rcub_machinery_4179 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav", year = "2015", abstract = "This paper deals with stability problem of cart inverted pendulum controlled by a fractional order PD controller. Inverted pendulum is an underactuated mechanical system because it has one control input and two degrees of freedom. Mathematical model of cart pendulum system is derived and fractional order PD controller is introduced in order to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing controller. Problem of asymptotic stability of closed loop system is solved using the D decomposition approach. Stability regions in control parameters space are calculated using this method, and tuning of the fractional order controller can be carried out.", publisher = "Faculty of Mechanical Engineering University of Banja Luka", journal = "Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015", title = "Control of the cart pendulum system by using a fractional order PD controller", pages = "562-557", url = "https://hdl.handle.net/21.15107/rcub_machinery_4179" }
Mandić, P., Lazarević, M.,& Šekara, T.. (2015). Control of the cart pendulum system by using a fractional order PD controller. in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015 Faculty of Mechanical Engineering University of Banja Luka., 557-562. https://hdl.handle.net/21.15107/rcub_machinery_4179
Mandić P, Lazarević M, Šekara T. Control of the cart pendulum system by using a fractional order PD controller. in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015. 2015;:557-562. https://hdl.handle.net/21.15107/rcub_machinery_4179 .
Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, "Control of the cart pendulum system by using a fractional order PD controller" in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015 (2015):557-562, https://hdl.handle.net/21.15107/rcub_machinery_4179 .