ELASTIC INVERTED PENDULUM UNDER HYSTERETIC NONLINEARITY IN SUSPENSION: STABILIZATION AND OPTIMAL CONTROL
Abstract eng: This paper is dedicated to investigation of the elastic inverted pendulum with hysteretic nonlinearity in the suspension point. We consider the problem of stabilization and optimal control of such a system. In the frame of the bionic model we present an algorithm which provides an effective procedure for finding of optimal control parameters together with application of this algorithm to the system under consideration. The results of numerical simulations, namely, the phase portraits and the dynamics of Lyapunov function are presented and discussed.
Contributors:
Publisher:
National Technical University of Athens, 2015
Conference Title:
Conference Title:
COMPDYN 2015 - 5th International Thematic Conference
Conference Venue:
Crete (GR)
Conference Dates:
2015-05-25 / 2015-05-27
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-06-22, last modified 2017-06-22
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