Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands

The main objective of this paper is to drive a rotary inverted pendulum by following a desired navigation instruction. This navigation is commanded by the user through a new electromagnetic device which is allowed to perturb the pendulum from its upright position. This apparatus consists of an elect...

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Bibliographic Details
Published in:Journal of the Franklin Institute Vol. 355; no. 10; pp. 4077 - 4096
Main Authors: Pujol-Vazquez, Gisela, Acho, Leonardo, Mobayen, Saleh, Nápoles, Amelia, Pérez, Vega
Format: Journal Article Publication
Language:English
Published: Elmsford Elsevier Ltd 01.07.2018
Elsevier Science Ltd
Subjects:
15 Linear and multilinear algebra; matrix theory
93 Systems Theory; Control
Automatic control
Automàtica i control
Circuits
Classificació AMS
Coils
Control automàtic
Control systems
Control systems design
Control theory
Dispositius electromecànics
Electromagnetic manipulator
Electromagnetics
Electromechanical decives
External perturbations
H-infinity control
H8-linear matrix inequality technique
Inequality
Informàtica
Magnetic coils
Mathematical analysis
Matrix methods
Navigation
Nonlinear equations
Pendulum
Pèndol
Rotary inverted pendulum
Àrees temàtiques de la UPC
ISSN:0016-0032, 1879-2693, 0016-0032
Online Access:Get full text
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Description
Summary:The main objective of this paper is to drive a rotary inverted pendulum by following a desired navigation instruction. This navigation is commanded by the user through a new electromagnetic device which is allowed to perturb the pendulum from its upright position. This apparatus consists of an electronic magnetic driving circuit to introduce commands and realized via two operated magnetic coils. So, the external programmed magnetic perturbation can be seen as external commandments. Therefore, the control problem statement is solved via a modified regulation control implementation, to maintain the pendulum on its upright position and giving free manipulation of the base of the rotary inverted pendulum. Hence, by using the corresponding H∞-linear matrix inequality technique, a static state controller is designed and tested experimentally so supporting our findings.
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content type line 14
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2018.03.013