Nonlinear control for linear motors with ...
Type de document :
Communication dans un congrès avec actes
Titre :
Nonlinear control for linear motors with friction - Application to an inverted pendulum system
Auteur(s) :
Riachy, Samer [Auteur]
Algebra for Digital Identification and Estimation [ALIEN]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Floquet, Thierry [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Algebra for Digital Identification and Estimation [ALIEN]
Richard, Jean-Pierre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Algebra for Digital Identification and Estimation [ALIEN]
Algebra for Digital Identification and Estimation [ALIEN]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Floquet, Thierry [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Algebra for Digital Identification and Estimation [ALIEN]
Richard, Jean-Pierre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Algebra for Digital Identification and Estimation [ALIEN]
Titre de la manifestation scientifique :
LDIA'07, 6th Internat. Symposium on Linear Drives for Industry Applications
Ville :
Lille
Pays :
France
Date de début de la manifestation scientifique :
2007-09-16
Date de publication :
2007
Discipline(s) HAL :
Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]
Physique [physics]/Mécanique [physics]/Génie mécanique [physics.class-ph]
Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Génie mécanique [physics.class-ph]
Informatique [cs]/Robotique [cs.RO]
Physique [physics]/Mécanique [physics]/Génie mécanique [physics.class-ph]
Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph]/Génie mécanique [physics.class-ph]
Résumé en anglais : [en]
A linear motor is used here as an actuator for a cart-pendulum system. The global, upward stabilization of the inverted position is aimed at. In such an under-actuated situation, (i) constraints on the motor motion (limited ...
Lire la suite >A linear motor is used here as an actuator for a cart-pendulum system. The global, upward stabilization of the inverted position is aimed at. In such an under-actuated situation, (i) constraints on the motor motion (limited length) have to be taken into account and (ii) friction effects may have a strong influence (limit cycles). A two-step path planning-plus-tracking strategy allows for dealing with constraint (i). Regarding point (ii), and since friction effects are hardly modeled, a second-order sliding mode algorithm is chosen. The resulting controller is designed without any knowledge of neither the electromagnetic circuits of the linear motor (the model is a simple gain), nor the friction models (only upper bounds for the friction forces acting on both the linear motor and pendulum are required). Experimental results show good performances in tracking and regulation, both for the swing-up and stabilization phases of the inverted pendulum.Lire moins >
Lire la suite >A linear motor is used here as an actuator for a cart-pendulum system. The global, upward stabilization of the inverted position is aimed at. In such an under-actuated situation, (i) constraints on the motor motion (limited length) have to be taken into account and (ii) friction effects may have a strong influence (limit cycles). A two-step path planning-plus-tracking strategy allows for dealing with constraint (i). Regarding point (ii), and since friction effects are hardly modeled, a second-order sliding mode algorithm is chosen. The resulting controller is designed without any knowledge of neither the electromagnetic circuits of the linear motor (the model is a simple gain), nor the friction models (only upper bounds for the friction forces acting on both the linear motor and pendulum are required). Experimental results show good performances in tracking and regulation, both for the swing-up and stabilization phases of the inverted pendulum.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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