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Title:

Fundamental Dynamics based Adaptive Energy Control for Cooperative Swinging of Complex Pendulum-like Objects

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Donner, Philine; Christange, Franz; Buss, Martin
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
WWW:
http://www.shrine-project.eu/userfiles/downloads/CDC15_improved.pdf
Semester:
WS 15-16
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