Article ID Journal Published Year Pages File Type
411681 Robotics and Autonomous Systems 2009 6 Pages PDF
Abstract

This contribution deals with the application of energy based control methods for the inverted pendulum on a cart model. We will present a swing up controller as well as a nonlinear balancing controller with the focus on the implementation on a laboratory model. Therefore we recapitulate well-known control concepts from the literature which will be adapted such that they work on a concrete experiment with all the undesirable effects like friction and quantisation.

Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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