Verification of ZG controllers for cart path tracking of general IPC model with nonzero link mass

Author

Mingzhi Mao ; Zhengli Xiao ; Xiaotian Yu ; Yonghua Yin ; Yunong Zhang

Author_Institution

Sch. of Inf. Sci. & Technol., Sun Yat-sen Univ., Guangzhou, China

fYear

2014

fDate

26-28 April 2014

Firstpage

282

Lastpage

285

Abstract

The general inverted pendulum on a cart (termed IPC) model with nonzero link mass is investigated and analyzed for the tracking-control problem solving due to its concise and representative structure. According to the numbers of times of using Zhang dynamics (ZD) and gradient dynamics (GD) methods, novel controllers are designed and analyzed for the tracking control of the IPC model with nonzero link mass, which are thus termed ZG (Zhang gradient) controllers. Note that the ZG controllers are of z2g0 and z2g1 types in the paper. More importantly, the efficacy and superiority of ZG controllers are further verified via plenty of computer simulations for the cart path tracking of the general IPC model with nonzero link mass.

Keywords

control system analysis computing; digital simulation; gradient methods; nonlinear control systems; pendulums; position control; GD; ZG; ZG controller verification; Zhang dynamics; Zhang gradient; cart model; cart path tracking; computer simulations; general IPC model; general inverted pendulum; gradient dynamics; nonzero link mass; z2g0 types; z2g1 types; Analytical models; Computational modeling; Computer simulation; Educational institutions; Mathematical model; Nonlinear systems; Tracking; ZG controllers; Zhang dynamics; general IPC model; gradient dynamics; path tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Science and Technology (ICIST), 2014 4th IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ICIST.2014.6920384

Filename

6920384