TY - GEN
T1 - Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects
AU - Donner, Philine
AU - Christange, Franz
AU - Buss, Martin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - We present an adaptive energy-based controller for cooperative swinging of complex pendulum-like objects by two agents. The complex pendulum-like object has two oscillation degrees of freedom of which one is to be controlled to a goal energy and the other one has to be damped. The closed-loop fundamental dynamics of a simple pendulum are extended to the two-agent pendulum. Based on the fundamental dynamics, a simple adaptive mechanism identifies the natural frequency of the system. An amplitude factor is adapted such that an agent behaves as a leader or a follower. A leader knows the goal energy and controls the system according to desired reference dynamics. A follower either imitates the leader's energy flow or estimates the leader's goal energy. Properties as stability of both leader-follower structures are analyzed analytically based on the fundamental dynamics assumption. The applicability of the control approaches to a complex pendulum-like object is shown in simulation.
AB - We present an adaptive energy-based controller for cooperative swinging of complex pendulum-like objects by two agents. The complex pendulum-like object has two oscillation degrees of freedom of which one is to be controlled to a goal energy and the other one has to be damped. The closed-loop fundamental dynamics of a simple pendulum are extended to the two-agent pendulum. Based on the fundamental dynamics, a simple adaptive mechanism identifies the natural frequency of the system. An amplitude factor is adapted such that an agent behaves as a leader or a follower. A leader knows the goal energy and controls the system according to desired reference dynamics. A follower either imitates the leader's energy flow or estimates the leader's goal energy. Properties as stability of both leader-follower structures are analyzed analytically based on the fundamental dynamics assumption. The applicability of the control approaches to a complex pendulum-like object is shown in simulation.
UR - https://www.scopus.com/pages/publications/84962030056
U2 - 10.1109/CDC.2015.7402232
DO - 10.1109/CDC.2015.7402232
M3 - Conference contribution
AN - SCOPUS:84962030056
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 392
EP - 399
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -