Applications of energy based control methods for the inverted pendulum on a cart

Andreas Siuka; Markus Schöberl

doi:10.1016/j.robot.2009.07.016

Applications of energy based control methods for the inverted pendulum on a cart

Andreas Siuka, Markus Schöberl

Institute of Control Systems

Research output: Contribution to journal › Article › peer-review

Abstract

This contribution deals with the application of energy based control methods for the inverted pendulum on a cart model. We will present a swing up controller as well as a nonlinear balancing controller with the focus on the implementation on a laboratory model. Therefore we recapitulate well-known control concepts from the literature which will be adapted such that they work on a concrete experiment with all the undesirable effects like friction and quantisation.

Original language	English
Pages (from-to)	1012-1017
Number of pages	6
Journal	Robotics and Autonomous Systems
Volume	57
Issue number	10
DOIs	https://doi.org/10.1016/j.robot.2009.07.016
Publication status	Published - Oct 2009

Fields of science

101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202017 Embedded systems
202027 Mechatronics
202034 Control engineering
203015 Mechatronics

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10.1016/j.robot.2009.07.016

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title = "Applications of energy based control methods for the inverted pendulum on a cart",

abstract = "This contribution deals with the application of energy based control methods for the inverted pendulum on a cart model. We will present a swing up controller as well as a nonlinear balancing controller with the focus on the implementation on a laboratory model. Therefore we recapitulate well-known control concepts from the literature which will be adapted such that they work on a concrete experiment with all the undesirable effects like friction and quantisation.",

author = "Andreas Siuka and Markus Sch{\"o}berl",

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AU - Schöberl, Markus

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AB - This contribution deals with the application of energy based control methods for the inverted pendulum on a cart model. We will present a swing up controller as well as a nonlinear balancing controller with the focus on the implementation on a laboratory model. Therefore we recapitulate well-known control concepts from the literature which will be adapted such that they work on a concrete experiment with all the undesirable effects like friction and quantisation.

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DO - 10.1016/j.robot.2009.07.016

M3 - Article

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JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

IS - 10

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Applications of energy based control methods for the inverted pendulum on a cart

Abstract

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