Casanova Calvo, V.; Salt Llobregat, JJ.; Pizá Fernández, R.; Cuenca Lacruz, ÁM. (2012). Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays. International Journal of Computers Communications & Control. 7(1):20-38. http://hdl.handle.net/10251/81782
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/81782
Title:
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Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays
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Author:
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Casanova Calvo, Vicente
Salt Llobregat, Julián José
Pizá Fernández, Ricardo
Cuenca Lacruz, Ángel Miguel
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial
Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials
Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny
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Issued date:
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Abstract:
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[EN] The aim of this work is the development and implementation of a control
structure for the double rotary inverted pendulum, suitable to be used in a
Networked Control System environment. Delays are quite common in ...[+]
[EN] The aim of this work is the development and implementation of a control
structure for the double rotary inverted pendulum, suitable to be used in a
Networked Control System environment. Delays are quite common in this
kind of systems and, when controlling multivariable plants, it is possible that
different delays are applied to the multiple inputs and outputs of them. A control
structure that allows compensating individually each one of the multiple
loop delays would be useful when one of these delays changes. Inverted pendulums
are quite sensitive to delays and for this reason are appropriated plants
to be used in these conditions. The control structure is developed modifying
the control in no-delay conditions with a generalized predictor able to deal
with unstable and non-minimum plants as the chosen one is. The proposed
structure has been simulated and implemented to control a real double rotary
inverted pendulum.
[-]
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Subjects:
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Control applications
,
Delay compensation
,
Distributed control
,
Multi-loop control
,
Multi-variable feedback control
,
Transport delay
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Copyrigths:
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Cerrado |
Source:
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International Journal of Computers Communications & Control. (issn:
1841-9836
) (eissn:
1841-9844
)
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Publisher:
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Agora University Editing House
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Publisher version:
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http://univagora.ro/jour/index.php/ijccc/article/view/1420
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Project ID:
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info:eu-repo/grantAgreement/MICINN//DPI2009-14744-C03-03/ES/Diseño De Un Vehiculo De Inspeccion Submarina Autonoma Para Misiones Oceanicas. Grupo De Investigacion Ai2_Upv/
info:eu-repo/grantAgreement/GVA//GV%2F2010%2F018/
info:eu-repo/grantAgreement/UPV//PAID-06-08/
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Thanks:
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This work was supported by the Spanish Ministerio de Ciencia y Tecnologa Project DPI2009-14744-C03-03, by Generalitat Valenciana Project GV/2010/018, and by Universidad Polit´ecnica de Valencia Project PAID06-08.
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Type:
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Artículo
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