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    Adaptive Robust Stabilization of the Furuta's Pendulum Via Attractive Ellipsoid Method

    Source: Journal of Dynamic Systems, Measurement, and Control:;2016:;volume( 138 ):;issue: 002::page 21005
    Author:
    Ordaz, Patricio
    ,
    Poznyak, Alex
    DOI: 10.1115/1.4032130
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper focuses on the issue of adaptiverobust stabilization of the Furuta's pendulum around unstable equilibrium where the dynamical model is unknown. The control scheme lies at the lack of the dynamical model as well as external disturbances. The stabilization analysis is based on the attractive ellipsoid method (AEM) for a class of uncertain nonlinear systems having “quasiLipschitzâ€‌ nonlinearities. Even more, a modification of the AEM concept that permits to use online information obtained during the process is suggested here. This adjustment (or adaptation) is made only in some fixed sample times, so that the corresponding gain matrix of the robust controller is given on time interval too. Furthermore, under a specific “regularized persistent excitation condition,â€‌ the proposed method guarantees that the controlled system trajectories remain inside an ellipsoid of a minimal size (the minimal size is refereed to as the minimal trace of the corresponding inverse ellipsoidal matrix). Finally, the adaptive process describes a region of attraction (ROA) of the considered system under adaptiverobust nonlinear control law.
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      Adaptive Robust Stabilization of the Furuta's Pendulum Via Attractive Ellipsoid Method

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    http://yetl.yabesh.ir/yetl1/handle/yetl/160643
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorOrdaz, Patricio
    contributor authorPoznyak, Alex
    date accessioned2017-05-09T01:26:55Z
    date available2017-05-09T01:26:55Z
    date issued2016
    identifier issn0022-0434
    identifier otherds_138_02_021005.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/160643
    description abstractThis paper focuses on the issue of adaptiverobust stabilization of the Furuta's pendulum around unstable equilibrium where the dynamical model is unknown. The control scheme lies at the lack of the dynamical model as well as external disturbances. The stabilization analysis is based on the attractive ellipsoid method (AEM) for a class of uncertain nonlinear systems having “quasiLipschitzâ€‌ nonlinearities. Even more, a modification of the AEM concept that permits to use online information obtained during the process is suggested here. This adjustment (or adaptation) is made only in some fixed sample times, so that the corresponding gain matrix of the robust controller is given on time interval too. Furthermore, under a specific “regularized persistent excitation condition,â€‌ the proposed method guarantees that the controlled system trajectories remain inside an ellipsoid of a minimal size (the minimal size is refereed to as the minimal trace of the corresponding inverse ellipsoidal matrix). Finally, the adaptive process describes a region of attraction (ROA) of the considered system under adaptiverobust nonlinear control law.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleAdaptive Robust Stabilization of the Furuta's Pendulum Via Attractive Ellipsoid Method
    typeJournal Paper
    journal volume138
    journal issue2
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.4032130
    journal fristpage21005
    journal lastpage21005
    identifier eissn1528-9028
    treeJournal of Dynamic Systems, Measurement, and Control:;2016:;volume( 138 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian