Balance control of ball and wheel systems via feedback linearization

Ming-Tzu Ho, Hao Shuan Lin

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

In this paper, a control laboratory experiment, called the ball and wheel system, is introduced. The objective of this control system is to control the wheel such that the ball is balanced around its equilibrium position. This system is inherently nonlinear and unstable. The experimental setup of this system is very simple, easy to build, and suitable for the study of the nonlinear control system. One of salient features of this system is that it is feedback linearizable. Based on feedback linearization, a nonlinear controller is designed to achieve locally asymptotic stability of the system. The experimental results are given to demonstrate and validate the effectiveness of the control scheme.

原文English
主出版物標題Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
頁面3926-3931
頁數6
出版狀態Published - 2006
事件45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
持續時間: 2006 十二月 132006 十二月 15

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
國家/地區United States
城市San Diego, CA
期間06-12-1306-12-15

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 建模與模擬
  • 控制和優化

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