Analysis and trajectory planning for anti-swing on a one-stage cart pendulum
نویسندگان
چکیده
In order to achieve smooth and anti-swing positioning process, a trajectory planning scheme, which is mainly the linear combination of trigonometric functions, proposed for one-stage cart pendulum. Based on internal dynamics pendulum system, derived from anticipated swing angle bar, satisfies initial terminal state constraints. Experiments are conducted demonstrate performance with introduced planned trajectory.
منابع مشابه
Analysis of the Energy Based Swing-up Control for a Double Pendulum on a Cart
Designing and analyzing controllers for underactuated systems with underactuation degree greater than one is still an open and challenging problem. In this paper, we study an unsolved problem of analyzing energy based swing-up control for a double pendulum on a cart, which has three degrees of freedom and only one control input. We present an original analysis of the convergence of the energy o...
متن کاملSwing-up and stabilization of a cart-pendulum system under restricted cart track length
This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...
متن کاملTrajectory Optimization of a Pendulum-Driven Underactuated Cart
The control problem of the pendulum-driven cart has been well studied in several literatures. The challenge issue of control of such underactuated system is to control the motions of the pendulum and the cart by applying only one control torque. However, these literatures mostly focused on addressing the dynamic modeling and the tracking control design. Few papers have considered the trajectory...
متن کاملSwing-up control of a triple pendulum on a cart with experimental validation
The swing-up control of a triple pendulum on a cart is presented, where the controller is based on a two-degrees-of-freedom scheme consisting of a nonlinear feedforward controller and an optimal feedback controller. The point-to-point transition task is treated as a nonlinear two-point boundary value problem with free parameters resulting from the suitably projected inputoutput dynamics. The ma...
متن کاملAn Impulse-Momentum Approach to Swing-Up Control of Double Inverted Pendulum on a Cart
The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto-rest maneuvers of the first link about its vertically upright configuration ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: ITM web of conferences
سال: 2022
ISSN: ['2271-2097', '2431-7578']
DOI: https://doi.org/10.1051/itmconf/20224702012