Control of the Cart-Pendulum System Based on Discrete Mechanics – Part II: Transformation to Continuous-Time Inputs and Experimental Verification –
Summary :
In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E95-A No.2 pp.534-541
- Publication Date
- 2012/02/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E95.A.534
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Keyword
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Tatsuya KAI, Kensuke BITO, Takeshi SHINTANI, "Control of the Cart-Pendulum System Based on Discrete Mechanics – Part II: Transformation to Continuous-Time Inputs and Experimental Verification –" in IEICE TRANSACTIONS on Fundamentals,
vol. E95-A, no. 2, pp. 534-541, February 2012, doi: 10.1587/transfun.E95.A.534.
Abstract: In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E95.A.534/_p
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@ARTICLE{e95-a_2_534,
author={Tatsuya KAI, Kensuke BITO, Takeshi SHINTANI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Control of the Cart-Pendulum System Based on Discrete Mechanics – Part II: Transformation to Continuous-Time Inputs and Experimental Verification –},
year={2012},
volume={E95-A},
number={2},
pages={534-541},
abstract={In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.},
keywords={},
doi={10.1587/transfun.E95.A.534},
ISSN={1745-1337},
month={February},}
Copy
TY - JOUR
TI - Control of the Cart-Pendulum System Based on Discrete Mechanics – Part II: Transformation to Continuous-Time Inputs and Experimental Verification –
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 534
EP - 541
AU - Tatsuya KAI
AU - Kensuke BITO
AU - Takeshi SHINTANI
PY - 2012
DO - 10.1587/transfun.E95.A.534
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E95-A
IS - 2
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - February 2012
AB - In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.
ER -
English
