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

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dc.contributor	Universitat Politècnica de Catalunya. Departament de Matemàtiques
dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor	Universitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions
dc.contributor	Universitat Politècnica de Catalunya. TECNOFAB - Grup de Recerca en Tecnologies de Fabricació
dc.contributor.author	Pujol Vázquez, Gisela
dc.contributor.author	Acho Zuppa, Leonardo
dc.contributor.author	Mobayen, Saleh
dc.contributor.author	Nápoles Alberro, Amelia
dc.contributor.author	Perez Gracia, Vega
dc.date	2018-07
dc.identifier.citation	Pujol-Vazquez, G., Acho, L., Mobayen, S., Napoles, A., Perez, V. Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands. "Journal of the Franklin Institute", Juliol 2018, vol. 355, núm. 10, p. 4077-4096.
dc.identifier.citation	0016-0032
dc.identifier.citation	10.1016/j.jfranklin.2018.03.013
dc.identifier.uri	http://hdl.handle.net/2117/116113
dc.language.iso	eng
dc.relation	https://www.sciencedirect.com/science/article/pii/S0016003218302151
dc.relation	info:eu-repo/grantAgreement/ES/1PE/DPI2015-64170-R
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Electromechanical decives
dc.subject	Pendulum -- Automatic control
dc.subject	Rotary inverted pendulum
dc.subject	H8-linear matrix inequality technique
dc.subject	Control theory
dc.subject	Electromagnetic manipulator
dc.subject	External perturbations
dc.subject	Dispositius electromecànics
dc.subject	Pèndol -- Control automàtic
dc.subject	Classificació AMS::93 Systems Theory; Control
dc.subject	Classificació AMS::15 Linear and multilinear algebra; matrix theory
dc.title	Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/article
dc.description.abstract	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 H8-linear matrix inequality technique, a static state controller is designed and tested experimentally so supporting our findings.
dc.description.abstract	Peer Reviewed

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