Comparison of the Performance of Controllers for Under-Actuated Systems

被引：0

作者：

Joshi, Sidharth ^{[1
]}

Singh, Abhaya Pal ^{[1
]}

机构：

[1] Symbiosis Int Univ, Symbiosis Inst Technol, Pune, Maharashtra, India

来源：

PROCEEDINGS OF THE FIRST IEEE INTERNATIONAL CONFERENCE ON POWER ELECTRONICS, INTELLIGENT CONTROL AND ENERGY SYSTEMS (ICPEICES 2016) | 2016年

关键词：

Control Systems; Under-actuated Systems; Pendulum on a Cart; Model Predictive Control; PID Controller; MODEL-PREDICTIVE CONTROL; ROBUST;

D O I：

暂无

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

In this paper a Model Predictive Control (MPC) strategy is used for control of an under-actuated mechanical system, considered here is pendulum on a cart system (pOAC) which has two degrees of freedom. The main strategy here is to control the angle of pendulum and position of the cart. The simulation is carried out using MPC toolbox and the response is compared with classical PID controller to validate the control law.

引用

页数：5

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