Title :
Adaptive stabilization of a reaction wheel pendulum on moving LEGO platform
Author :
Bobtsov, Alexey A. ; Pyrkin, Anton A. ; Kolyubin, Sergey A.
Author_Institution :
Dept. of Control Syst. & Inf., St.-Petersburg State Univ. of Inf. Technol. Mech. & Opt., St. Petersburg, Russia
Abstract :
In this paper an adaptive control algorithm of a reaction wheel pendulum on a movable platform is proposed. Obtained hybrid control system allows to stabilize a pendulum fixed on the movable platform at the top unstable equilibrium. Tasks of swinging up and stabilizing of a pendulum is solved in conditions of a full parametric uncertainty of a plant and constrained control channel. In contrast to other approaches, this algorithm has adaptive adjusting of controller´s parameters in ldquoon-linerdquo mode without any preliminary identification procedure. The second goal of this work is a development of applications used in an educational process because an investigation of control theory problems with real plants very important for students and their experience.
Keywords :
adaptive control; mechanical variables control; motion control; pendulums; stability; adaptive control algorithm; adaptive stabilization; constrained control channel; moving LEGO platform; reaction wheel pendulum; Adaptive control; Automatic control; Control systems; Control theory; Mechanical systems; Mechatronics; Programmable control; Rockets; Uncertainty; Wheels;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5281045
