| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0549708 |
| utime |
20250123085839.5 |
| mtime |
20211215235959.9 |
| SCOPUS |
85126007885 |
| WOS |
000781990303074 |
| DOI |
10.1109/CDC45484.2021.9683262 |
| title
(primary) (eng) |
Virtual nonholonomic constraints to damp the varying length pendulum swing |
| specification |
| page_count |
8 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0549707 |
| ISBN |
978-1-6654-3658-8 |
| title
|
Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021) |
| page_num |
3893-3900 |
| publisher |
| place |
Piscataway |
| name |
IEEE |
| year |
2021 |
|
|
| keyword |
Nonlinear systems |
| keyword |
Stability of nonlinear systems |
| keyword |
Control applications |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| 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 |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| 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 |
| country |
CZ |
| 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 |
konferenční příspěvek |
| source_size |
1,57 MB |
|
| cas_special |
| project |
| project_id |
GA21-03689S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0410139 |
|
| abstract
(eng) |
The broadly studied long-existing problem of the varying length pendulum swing damping using the Coriolis force is approached here via the novel two-step approach. First, convenient virtual nonholonomic constraints on the swing angle, swing angular velocity and the string length ensuring the most efficient and realistic damping are designed. Then these constraints are enforced by the input being the force applied along the string length. Efficiency of enforcement and theoretical stability proof are facilitated using finite time stability feedback for the integrator chain. Besides careful theoretical analysis including proper mathematical proofs, our novel approach was tested both in simulations and using the laboratory model. |
| action |
| ARLID |
cav_un_auth*0419406 |
| name |
IEEE Conference on Decision and Control (CDC) 2021 /60./ |
| dates |
20211213 |
| mrcbC20-s |
20211215 |
| place |
Austin |
| country |
US |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2022 |
| num_of_auth |
3 |
| mrcbC52 |
4 A sml 4as 20231122150207.7 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0325727 |
| 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 |
CTU CIIRC, Prague |
| country |
CZ |
|
| confidential |
S |
| contract |
| name |
IEEE COPYRIGHT AND CONSENT FORM |
| date |
20210921 |
|
| article_num |
0433 |
| arlyear |
2021 |
| mrcbTft |
\nSoubory v repozitáři: celikovsky-0549708-CopyrightReceipt--0433.pdf |
| mrcbU14 |
85126007885 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000781990303074 WOS |
| mrcbU56 |
konferenční příspěvek 1,57 MB |
| mrcbU63 |
cav_un_epca*0549707 Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021) IEEE 2021 Piscataway 3893 3900 978-1-6654-3658-8 |
|