Title :
The bang-bang-adjust control algorithm and simulation during the swing-up process of circular rail inverted pendulum
Author :
Xianglin Hou ; Haifeng Yu ; Cong Chen
Author_Institution :
Sch. of Traffic & Mech. Eng., Shenyang Jianzhu Univ., Shenyang, China
Abstract :
In this paper, the principles of homogeneous coordinate and analytical mechanics are used to build the equations of the dynamics differential equation of Circular Rail Inverted Pendulum. The Bang-Bang-Adjust Control Algorithm is put forward, and by applying control torque reasonably, the computer control during the swing-up process of Circular Rail Inverted Pendulum has been realized. The computer simulation of the swing-up process of Inverted Pendulum is also provided. The results indicated that the dynamics model and the control method are effective and feasible.
Keywords :
bang-bang control; differential equations; nonlinear control systems; pendulums; torque control; analytical mechanic principle; bang-bang-adjust control algorithm; circular rail inverted pendulum; computer simulation; control torque; dynamics differential equation; homogeneous coordinate principle; swing-up process; Angular velocity; Delays; Equations; Mathematical model; Process control; Rails; Torque; Swing-up Process; The Bang-Bang-Adjust Control Algorithm; The Circular Rail Inverted Pendulum;
Conference_Titel :
Control and Decision Conference (CCDC), 2013 25th Chinese
Conference_Location :
Guiyang
Print_ISBN :
978-1-4673-5533-9
DOI :
10.1109/CCDC.2013.6560951
