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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Donner, P., Christange, F., M. Buss 
Title:
Fundamental Dynamics based Adaptive Energy Control for Cooperative Swinging of Complex Pendulum-like Objects 
Pages contribution:
392-399 
Abstract:
We present an adaptive energy-based controller for cooperative swinging of complex pendulum-like objects by two agents. The complex pendulum-like object has two oscillation degrees of freedom of which one is to be controlled to a goal energy and the other one has to be damped. The closed-loop fundamental dynamics of a simple pendulum are extended to the two-agent pendulum. Based on the fundamental dynamics, a simple adaptive mechanism identifies the natural frequency of the system. An amplitude f...    »
 
Book / Congress title:
Proceedings of the 54th IEEE Conference on Decision and Control Conference (CDC) 
Organization:
IEEE 
Date of congress:
December 15-18, 2015 
Year:
2015 
Language:
en 
Semester:
WS 15-16