Real Time Fractional Order Control of Rotary Inverted Pendulum
Apstrakt
This paper proposes advanced control strategy for a rotary inverted pendulum
(RIP). RIP is an underactuated mechanical system because it has only one control input and
two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to
test performance of different control algorithms. The mathematical model for the RIP is
derived using the Rodriguez method. Control problem is divided and implemented in two
different steps: swing-up and stabilization routines. Here, a new algorithm of PID control is
suggested based on fractional calculus (FC), i.e.fractional controller PDα as well as classical
PID control in the control of RIP. The effectiveness of the proposed control method is tested
in Matlab Simulink environment.
Ključne reči:
Furuta pendulum / real time control / fractional orderIzvor:
Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013, 2013, 129-134Izdavač:
- Belgrade: Serbian Society of Mechanics
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- 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 - Stojanovic, Slavoljub AU - Ristanović, Milan PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4421 AB - This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. The mathematical model for the RIP is derived using the Rodriguez method. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a new algorithm of PID control is suggested based on fractional calculus (FC), i.e.fractional controller PDα as well as classical PID control in the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment. PB - Belgrade: Serbian Society of Mechanics C3 - Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 T1 - Real Time Fractional Order Control of Rotary Inverted Pendulum EP - 134 SP - 129 UR - https://hdl.handle.net/21.15107/rcub_machinery_4421 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Stojanovic, Slavoljub and Ristanović, Milan", year = "2013", abstract = "This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. The mathematical model for the RIP is derived using the Rodriguez method. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a new algorithm of PID control is suggested based on fractional calculus (FC), i.e.fractional controller PDα as well as classical PID control in the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment.", publisher = "Belgrade: Serbian Society of Mechanics", journal = "Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013", title = "Real Time Fractional Order Control of Rotary Inverted Pendulum", pages = "134-129", url = "https://hdl.handle.net/21.15107/rcub_machinery_4421" }
Mandić, P., Lazarević, M., Stojanovic, S.,& Ristanović, M.. (2013). Real Time Fractional Order Control of Rotary Inverted Pendulum. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 Belgrade: Serbian Society of Mechanics., 129-134. https://hdl.handle.net/21.15107/rcub_machinery_4421
Mandić P, Lazarević M, Stojanovic S, Ristanović M. Real Time Fractional Order Control of Rotary Inverted Pendulum. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013. 2013;:129-134. https://hdl.handle.net/21.15107/rcub_machinery_4421 .
Mandić, Petar, Lazarević, Mihailo, Stojanovic, Slavoljub, Ristanović, Milan, "Real Time Fractional Order Control of Rotary Inverted Pendulum" in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 (2013):129-134, https://hdl.handle.net/21.15107/rcub_machinery_4421 .