Control of the Cart-Pendulum System Based on Discrete Mechanics – Part I: Theoretical Analysis and Stabilization Control –
Summary :
This paper considers the discrete model of the cart-pendulum system modeled by discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. We first sum up basic concepts on discrete mechanics and discuss the explicitness of the linear approximation of the discrete Euler-Lagrange Equations. Next, the discrete cart-pendulum system is derived and analyzed from the viewpoint of solvability of implicit nonlinear control systems. We then show a control algorithm to stabilize the discrete cart-pendulum based on the discrete-time optimal regulator theory. Finally, some simulations are shown to demonstrate the effectiveness of the proposed algorithm.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E95-A No.2 pp.525-533
- Publication Date
- 2012/02/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E95.A.525
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Keyword
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Tatsuya KAI, "Control of the Cart-Pendulum System Based on Discrete Mechanics – Part I: Theoretical Analysis and Stabilization Control –" in IEICE TRANSACTIONS on Fundamentals,
vol. E95-A, no. 2, pp. 525-533, February 2012, doi: 10.1587/transfun.E95.A.525.
Abstract: This paper considers the discrete model of the cart-pendulum system modeled by discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. We first sum up basic concepts on discrete mechanics and discuss the explicitness of the linear approximation of the discrete Euler-Lagrange Equations. Next, the discrete cart-pendulum system is derived and analyzed from the viewpoint of solvability of implicit nonlinear control systems. We then show a control algorithm to stabilize the discrete cart-pendulum based on the discrete-time optimal regulator theory. Finally, some simulations are shown to demonstrate the effectiveness of the proposed algorithm.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E95.A.525/_p
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@ARTICLE{e95-a_2_525,
author={Tatsuya KAI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Control of the Cart-Pendulum System Based on Discrete Mechanics – Part I: Theoretical Analysis and Stabilization Control –},
year={2012},
volume={E95-A},
number={2},
pages={525-533},
abstract={This paper considers the discrete model of the cart-pendulum system modeled by discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. We first sum up basic concepts on discrete mechanics and discuss the explicitness of the linear approximation of the discrete Euler-Lagrange Equations. Next, the discrete cart-pendulum system is derived and analyzed from the viewpoint of solvability of implicit nonlinear control systems. We then show a control algorithm to stabilize the discrete cart-pendulum based on the discrete-time optimal regulator theory. Finally, some simulations are shown to demonstrate the effectiveness of the proposed algorithm.},
keywords={},
doi={10.1587/transfun.E95.A.525},
ISSN={1745-1337},
month={February},}
Copy
TY - JOUR
TI - Control of the Cart-Pendulum System Based on Discrete Mechanics – Part I: Theoretical Analysis and Stabilization Control –
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 525
EP - 533
AU - Tatsuya KAI
PY - 2012
DO - 10.1587/transfun.E95.A.525
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E95-A
IS - 2
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - February 2012
AB - This paper considers the discrete model of the cart-pendulum system modeled by discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. We first sum up basic concepts on discrete mechanics and discuss the explicitness of the linear approximation of the discrete Euler-Lagrange Equations. Next, the discrete cart-pendulum system is derived and analyzed from the viewpoint of solvability of implicit nonlinear control systems. We then show a control algorithm to stabilize the discrete cart-pendulum based on the discrete-time optimal regulator theory. Finally, some simulations are shown to demonstrate the effectiveness of the proposed algorithm.
ER -
English
