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.identifier
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
https://hdl.handle.net/2117/116113
dc.identifier
10.1016/j.jfranklin.2018.03.013
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
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.relation
https://www.sciencedirect.com/science/article/pii/S0016003218302151
dc.relation
info:eu-repo/grantAgreement/MINECO//DPI2015-64170-R/ES/DISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS/
dc.rights
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights
Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.subject
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject
Electromechanical decives
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Pendulum -- Automatic control
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Rotary inverted pendulum
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H8-linear matrix inequality technique
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Control theory
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Electromagnetic manipulator
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External perturbations
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Dispositius electromecànics
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Pèndol -- Control automàtic
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Classificació AMS::93 Systems Theory; Control
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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
