User: Guest  Login
Document type:
Konferenzbeitrag 
Author(s):
Donner, P.; Christange, F.; Buss, M. 
Title:
Adaptive Simple Pendulum Swing-up Controller based on the Closed-Loop Fundamental Dynamics 
Abstract:
An adaptive energy-based swing-up controller for simple pendulums is presented. A state transformation from cartesian to polar phase space followed by approximation steps leads to the fundamental dynamics of the controlled simple pendulum. Based on the fundamental dynamics, the unknown natural frequency is estimated and a control gain is adjusted such that the system energy follows desired reference dynamics. We prove convergence of the natural frequency estimate to the true value as well as con...    »
 
Book / Congress title:
Proceedings of the European Control Conference (ECC) 
Organization:
IEEE 
Date of congress:
July 15-17, 2015 
Year:
2015 
Language:
en 
Semester:
SS 15