Lyapunov Based Adaptive Control for Varying Length Pendulum with Unknown Viscous Friction
| Autor: | Sergej Celikovsky, Tomáš Vyhlídal, Milan Anderle |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Adaptive control Pendulum 02 engineering and technology Nonlinear control symbols.namesake Nonlinear system 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control theory Linearization Backstepping symbols Mathematics Control-Lyapunov function |
| Zdroj: | 2021 23rd International Conference on Process Control (PC). |
| DOI: | 10.1109/pc52310.2021.9447539 |
| Popis: | Varying length pendulum is studied here to address its oscillations damping using conveniently generated Coriolis force. Lateral damping friction is assumed to be practically negligible and therefore it is not included in the model. Magnitude of the Coriolis force is equal to the product of the angular swing velocity and the velocity of the change of the string length. As a consequence, the problem is modelled by the nonlinear control system having non-controllable and non-stabilizable approximate linearization at the requested damped steady state. Lyapunov technique combined with backstepping design and control Lyapunov function selection is used to tackle this truly nonlinear problem. Furthermore, Lyapunov based adaptive estimation of the viscous friction at the string pivot is designed to improve the controller performance. Besides theoretical mathematical justification the simulations and the real-time experiments using laboratory test-bed are included to highlight the paper results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|