Title :
Digital balancing of systems with backlash
Author :
Kollár, László E. ; Stépán, Gabor ; Turi, János
Author_Institution :
Dept. of Math. Sci., Texas Univ., Dallas, TX, USA
Abstract :
In the paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.
Keywords :
bifurcation; delays; digital control; discrete time systems; dynamics; nonlinear control systems; nonlinear dynamical systems; pendulums; position control; stability; backlash; cart; controlled pendulum; digital balancing; dynamics; elastic teeth belt; gear; inverted pendulum; nonlinearity; oscillation; time delays; upper equilibrium; Axles; Belts; Control systems; Delay effects; Electronic mail; Force control; Nonlinear equations; Piecewise linear techniques; Teeth; Wheels;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184344
