Richard Stadlmayr, Markus Schöberl, Kurt Schlacher,
"A Combination of Feedforward and Feedback for the Control of the nonlinear Benchmark Inertia Wheel Pendulum"
: Conference Proceedings European Control Conference 2007 (ECC 07), Kos, Greece, July 2-5 2007, Seite(n) 5802-5808, 7-2007, ISBN: 978-960-89028-5-5
Original Titel:
A Combination of Feedforward and Feedback for the Control of the nonlinear Benchmark Inertia Wheel Pendulum
Sprache des Titels:
Englisch
Original Buchtitel:
Conference Proceedings European Control Conference 2007 (ECC 07), Kos, Greece, July 2-5 2007
Original Kurzfassung:
This contribution is about the combination of a feedforward and feedback controller in order to force a nonlinear plant along a sufficiently smooth reference curve. This approach included a feedforward part in the framework of Port-Controlled Hamiltonian Systems with Dissipation (PCHD systems). PCHD system have turned out beneficially for the design of nonlinear controllers and provide special properties for the stability analysis of equilibrium points. By means of feedback control one may overcome model errors and disturbances for a real application. A passivity-based controller, which is designed for the PCHD error dynamics, exploits the mathematical structure of the system and forces the tracking error to zero. The combination of the feedforward and feedback part leads to a controller, which achieves good tracking behavior, cancel initial errors and rejects disturbances from the environment. The derivation of a control law which includes a feedforward part and a feedback controller will be shown for the nonlinear underactuated benchmark example Inertia Wheel Pendulum.
Sprache der Kurzfassung:
Deutsch
Seitenreferenz:
5802-5808
Erscheinungsmonat:
7
Erscheinungsjahr:
2007
ISBN:
978-960-89028-5-5
Anzahl der Seiten:
7
Notiz zur Publikation:
Stadlmayr R., Schöberl M., Schlacher K.: A Combination of Feedforward and Feedback for the Control of the Nonlinear Benchmark Inertia Wheel Pendulum In: CD Proceedings European Control Conference, ECC 2007, July 2-5 2007, Kos, Greece, ISBN: 978-960-89028-5-5, pp. 5802-5808, 2007.
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