bibtype	C - Conference Paper (international conference)
ARLID	0507012
utime	20240111141021.8
mtime	20190729235959.9
SCOPUS	85072298026
DOI	10.23919/ACC.2019.8814293
title (primary) (eng)	Damping a pendulum’s swing by string length adjustment - design and comparison of various control methods
specification	page_count 7 s. media_type C
serial	ARLID cav_un_epca*0507011 ISBN 978-1-5386-7928-9 title Proceedings of the 2019 American Control Conference (ACC) page_num 4399-4405 publisher place Piscataway name IEEE year 2019
keyword	Damping pendulum swing
keyword	Control Lyapunov function
keyword	Coriolis force
author (primary)	ARLID cav_un_auth*0252057 name1 Anderle name2 Milan institution UTIA-B full_dept (cz) Teorie řízení full_dept (eng) Department of Control Theory department (cz) TŘ department (eng) TR full_dept Department of Control Theory country CZ fullinstit Ústav teorie informace a automatizace AV ČR, v. v. i.
author	ARLID cav_un_auth*0377695 name1 Michiels name2 W. country BE
author	ARLID cav_un_auth*0101074 name1 Čelikovský name2 Sergej institution UTIA-B full_dept (cz) Teorie řízení full_dept Department of Control Theory department (cz) TŘ department TR full_dept Department of Control Theory fullinstit Ústav teorie informace a automatizace AV ČR, v. v. i.
author	ARLID cav_un_auth*0240742 name1 Vyhlídal name2 T. country CZ
source	source_type příspěvek na konferenci source_size 1,79 MB
cas_special	project ARLID cav_un_auth*0347203 project_id GA17-04682S agency GA ČR country CZ project ARLID cav_un_auth*0377697 project_id GA16-17398S agency GA ČR country CZ abstract (eng) A novel nonlinear control theory based feedback controller is proposed to damp the oscillations of the suspended load (pendulum) using the active modification of the length ofthe suspension string. This setting is a highly nonlinear one since the approximate linearization around the equilibrium working point is neither controllable, nor asymptotically stabilizable. The nonlinear design of the control law is therefore based on the conveniently selected control Lyapunov function. The resulting control law is then compared to the previously developed timedelay feedback control law, both in simulations and using the laboratory experimental realization of the suspended load system. Despite the fact that in the simulations the time-delay feedback control law suppresses the oscillations better than the nonlinear control law, in the experiments the performance of the time-delay feedback and of the nonlinear control law are rather similar. Moreover, the former keeps the pendulum string length oscillating, the latter stabilizes the nominal string length as well. Finally, the numerical optimization shows that the ideal damping would be provided by the impulsive-like control producing piece-wise constant string length dynamics. action ARLID cav_un_auth*0377696 name American Control Conference (ACC) 2019 dates 20190710 mrcbC20-s 20190712 place Philadelphia country US RIV BC FORD0 20000 FORD1 20200 FORD2 20204 reportyear 2020 num_of_auth 4 presentation_type PR inst_support RVO:67985556 permalink http://hdl.handle.net/11104/0298130 cooperation ARLID cav_un_auth*0377698 name Department of Computer Science, KU Leuven, Celestijnenlaan 200A, 3001 Heverlee, Belgium. institution DCS, KU Leuven country BE cooperation ARLID cav_un_auth*0377699 name Department of Instrumentation and Control Engineering, Faculty of Mechanical Engineering, and Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague institution DICE FME and CIIRC, CTU in Prague country CZ confidential S arlyear 2019 mrcbU14 85072298026 SCOPUS mrcbU24 PUBMED mrcbU34 WOS mrcbU56 příspěvek na konferenci 1,79 MB mrcbU63 cav_un_epca*0507011 Proceedings of the 2019 American Control Conference (ACC) 978-1-5386-7928-9 4399 4405 Piscataway IEEE 2019