TY - GEN
T1 - Adaptive simple pendulum swing-up controller based on the closed-loop fundamental dynamics
AU - Donner, Philine
AU - Christange, Franz
AU - Buss, Martin
N1 - Publisher Copyright:
© 2015 EUCA.
PY - 2015/11/16
Y1 - 2015/11/16
N2 - An adaptive energy-based swing-up controller for simple pendulums is presented. A state transformation from cartesian to polar phase space followed by approximation steps leads to the fundamental dynamics of the controlled simple pendulum. Based on the fundamental dynamics, the unknown natural frequency is estimated and a control gain is adjusted such that the system energy follows desired reference dynamics. We prove convergence of the natural frequency estimate to the true value as well as convergence of the system energy to the desired energy level under the fundamental dynamics assumption. The implications of the fundamental dynamics approximation are evaluated in simulation. Noise affected angle measurements simulate a realistic inverted pendulum experiment. The successful swing-up into the highly nonlinear regimes of the simple pendulum support the applicability of the fundamental dynamics.
AB - An adaptive energy-based swing-up controller for simple pendulums is presented. A state transformation from cartesian to polar phase space followed by approximation steps leads to the fundamental dynamics of the controlled simple pendulum. Based on the fundamental dynamics, the unknown natural frequency is estimated and a control gain is adjusted such that the system energy follows desired reference dynamics. We prove convergence of the natural frequency estimate to the true value as well as convergence of the system energy to the desired energy level under the fundamental dynamics assumption. The implications of the fundamental dynamics approximation are evaluated in simulation. Noise affected angle measurements simulate a realistic inverted pendulum experiment. The successful swing-up into the highly nonlinear regimes of the simple pendulum support the applicability of the fundamental dynamics.
UR - http://www.scopus.com/inward/record.url?scp=84963808593&partnerID=8YFLogxK
U2 - 10.1109/ECC.2015.7330962
DO - 10.1109/ECC.2015.7330962
M3 - Conference contribution
AN - SCOPUS:84963808593
T3 - 2015 European Control Conference, ECC 2015
SP - 2798
EP - 2805
BT - 2015 European Control Conference, ECC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - European Control Conference, ECC 2015
Y2 - 15 July 2015 through 17 July 2015
ER -