INVERTED PENDULUM WITH LINEAR SYNCHRONOUS MOTOR SWING UP USING BOUNDARY VALUE PROBLEM

Authors

  • Lukáš Koska Dept. of Cybernetics and Artificial Intelligence, Technical University of Košice, Slovakia
  • Slávka Jadlovská Dept. of Cybernetics and Artificial Intelligence, Technical University of Košice, Slovakia
  • Dominik Vošček Dept. of Cybernetics and Artificial Intelligence, Technical University of Košice, Slovakia
  • Anna Jadlovská Dept. of Cybernetics and Artificial Intelligence, Technical University of Košice, Slovakia

DOI:

https://doi.org/10.14311/AP.2019.59.0458

Keywords:

Automatic model generator, pendulum on the cart, linear synchronous motor, feedforward/ feedback control structure, boundary value problem, swing-up control.

Abstract

Research in the field of underactuated systems shows that control algorithms which take the natural dynamics of the system’s underactuated part into account are more energy-efficient than those utilizing fully-actuated systems. The purpose of this paper to apply the two-degrees-of-freedom (feedforward/feedback) control structure to design a swing-up manoeuver that involves tracking the desired trajectories so as to achieve and maintain the unstable equilibrium position of the pendulum on the cart system. The desired trajectories are obtained by solving the boundary value problem of the internal system dynamics, while the optimal state-feedback controller ensures that the desired trajectory is tracked with minimal deviations. The proposed algorithm is verified on the simulation model of the available laboratory model actuated by a linear synchronous motor, and the resulting program implementation is used to enhance the custom Simulink library Inverted Pendula Modeling and Control, developed by the authors of this paper.

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Published

2019-11-01

Issue

Section

Articles