Real time simulation for 2-DOF planar robot based inverted pendulum system

Author

Pan, Feng ; Chen, Da Li ; Xue, Ding Yu ; Cui, Jian Jiang

Author_Institution

Acad. of Inf. Sci. & Eng., NEU, Shen Yang, China

fYear

2009

fDate

17-19 June 2009

Firstpage

3367

Lastpage

3370

Abstract

Based on system simulation technology of MATLAB/Simulink, this article establishes the system mathematical model by applying the mechanism modeling method; designs and implements the real time simulation system for inverted pendulum servo-control system. The 2-DOF planar robot based inverted pendulum system is a multivariable, nonlinear and unstable actual controlled plant, which has been put in the simulation system loop for simulation study, including designing the system controller, building up the virtual instrument, monitoring the system operation in real-time, on-line and testing the system dynamic properties, this control result is good.

Keywords

mathematics computing; multivariable systems; nonlinear control systems; pendulums; robots; servomechanisms; 2-DOF planar robot; MATLAB-Simulink; inverted pendulum servo-control system; inverted pendulum system; mechanism modeling method; multivariable nonlinear unstable actual controlled plant; real time simulation system; system controller design; virtual instrument; Control system synthesis; Design methodology; Instruments; MATLAB; Mathematical model; Nonlinear control systems; Real time systems; Robots; Servosystems; System testing; Inverted Pendulum; MATLAB/Simulink; Optimizing Control; Real Time Simulation; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5191735

Filename

5191735