NONTRIVIAL PENDULUM SYSTEMS CONTROL UNDER CONDITIONS OF PARAMETRIC AND FUNCTIONAL UNCERTAINTIES

S. A. Kolyubin, A. A. Pyrkin


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Abstract

The paper deals with motion control for not actuated pendulum systems under conditions of parametric and
functional uncertainties, considering example of inverted position stabilization of inertia wheel pendulum on the movable platform. Obtained adaptive controller allows achieving control task for unknown parameters of the plant, the presence of neglected dynamics and control signal limitation. In contrast to other approaches, obtained algorithm provides real-time adjustment of controller parameters. Effectiveness of proposed approach is illustrated by experimental results.


Keywords: not actuated systems, pendulum systems, adaptive control, identification, mechatronic experimental setup
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