Abstract
This paper presents the development and experimental implementation of an indirect adaptive approach for swinging-up and stabilizing a torque-controlled inverted pendulum. The controller combines an adaptive estimator with a Proportional-Integral-Derivative controller and a nonlinear energy controller. The entire control algorithm is implemented using an Intel-based computer and the Matlab/Simulink environment. Experiments are performed to illustrate the properties of the adaptive control system, including the stabilization of a pendulum with unknown mass and length and in the presence of large disturbances. The resulting controller achieves practically global stabilization of the pendulum with minimal prior knowledge (range of parameters, noise bounds).
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the IASTED International Conference on Modelling, Identification and Control |
| Editors | M.H. Hamza |
| Pages | 461-466 |
| Number of pages | 6 |
| Volume | 23 |
| State | Published - 2004 |
| Event | Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland Duration: Feb 23 2004 → Feb 25 2004 |
Other
| Other | Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control |
|---|---|
| Country/Territory | Switzerland |
| City | Grindelwald |
| Period | 2/23/04 → 2/25/04 |
Keywords
- Adaptive Control
- Applications: Educational Experiments
- Energy Control
- Nonlinear Systems
- PID control
ASJC Scopus subject areas
- Engineering(all)