A comprehensive approach to double inverted pendulum modelling

• Autorzy: Andrzejewski Kamil , Czyżniewski Mateusz , Zielonka Maciej , Łangowski Rafał , Zubowicz Tomasz

Identyfikatory

DOI

10.24425/acs.2019.130201

• Języki publikacji: EN

Abstrakty

EN

The problem of mathematical modelling and indication of properties of a DIP has been investigated in this paper. The aim of this work is to aggregate the knowledge on a DIP modelling using the Euler-Lagrange formalism in the presence of external forces and friction. To indicate the main properties important for simulation, model parameters identification and control system synthesis, analytical and numerical tools have been used. The investigated properties include stability of equilibrium points, a chaos of dynamics and non-minimum phase behaviour around an upper position. The presented results refer to the model of a physical (constructed) DIP system.

Słowa kluczowe

EN

double inverted pendulum; modelling; non-linear dynamics; Lagrangian mechanics

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2019
• Tom: Vol. 29, No. 3
• Strony: 459--483
• Opis fizyczny: Bibliogr. 26, rys., tab., wykr., wzory

Twórcy

autor

Andrzejewski Kamil

• Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, G. Narutowicza 11/12, 80-233 Gdańsk, Poland

autor

Czyżniewski Mateusz

• Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, G. Narutowicza 11/12, 80-233 Gdańsk, Poland

autor

Zielonka Maciej

• Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, G. Narutowicza 11/12, 80-233 Gdańsk, Poland

autor

Łangowski Rafał

• Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, G. Narutowicza 11/12, 80-233 Gdańsk, Poland

autor

Zubowicz Tomasz

• Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, G. Narutowicza 11/12, 80-233 Gdańsk, Poland

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Uwagi

EN

1. This is an open-access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License (CC BY-NC-ND 3.0 https://creativecommons.org/licenses/by-nc-nd/3.0/), which permits use, distribution, and reproduction in any medium, provided that the article is properly cited, the use is non-commercial, and no modifications or adaptations are made.

PL

2. Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).