Applications of Energy based Control Methods for the Inverted Pendulum on a Cart
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
5th International Conference on Computational Intelligence, Robotics and Autonomous Systems, CIRAS 2008
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
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, where we focus on the real world implementation.
Therefore we recapitulate well known control
concepts from the literature which we will slightly modify
such that they work on a concrete experiment with all the
undesirable effects like friction and quantisation.
Forschungs-