• DocumentCode
    3221116
  • Title

    Mobile inverse pendulum modeling and control

  • Author

    Strah, Bruno ; Kern, Simon ; Felzer, Torsten ; Nordmann, Rainer ; Rinderknecht, Stephan

  • Author_Institution
    Inst. for Mechatron. Syst. in Mech. Eng. (IMS), Tech. Univ. Darmstadt, Darmstadt, Germany
  • fYear
    2010
  • fDate
    9-11 June 2010
  • Firstpage
    1133
  • Lastpage
    1138
  • Abstract
    Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
  • Keywords
    friction; mobile robots; nonlinear control systems; pendulums; state-space methods; Lagrange equation; dry friction; mobile inverse pendulum control; mobile inverse pendulum modeling; real system; state space control; Inverse problems;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control and Automation (ICCA), 2010 8th IEEE International Conference on
  • Conference_Location
    Xiamen
  • ISSN
    1948-3449
  • Print_ISBN
    978-1-4244-5195-1
  • Electronic_ISBN
    1948-3449
  • Type

    conf

  • DOI
    10.1109/ICCA.2010.5524392
  • Filename
    5524392
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3221116