Benutzer: Gast  Login
Titel:

Adaptive Simple Pendulum Swing-up Controller based on the Closed-Loop Fundamental Dynamics

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Donner, Philine; Christange, Franz; Buss, Martin
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...     »
Kongress- / Buchtitel:
Proceedings of the European Control Conference (ECC)
Ausrichter der Konferenz:
IEEE
Datum der Konferenz:
July 15-17, 2015
Jahr:
2015
Sprache:
en
WWW:
http://www.shrine-project.eu/userfiles/downloads/christange_ICRA15_final.pdf
Semester:
SS 15
 BibTeX