Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
411681 | Robotics and Autonomous Systems | 2009 | 6 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Andreas Siuka, Markus Schöberl,