A Nonlinear Programming Approach For The Swing-Up Control Problem

Ahmet YAZICI; Abdurrahman KARAMANCIOĞLU

Makale detayları

A Nonlinear Programming Approach For The Swing-Up Control Problem

Yazarlar:

Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı:

Eskişehir Osmangazi University

Ana Başlıklar:

Veri işleme & bilgisayar bilimi

Dergi:

Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2008 Vol.21 Issue 2, pp.109-124

Belge Tipi:

Makale

Yayın Tarihi:

12/2008

Belge Dili:

Türkçe

Document ID (Org No.):

2000416557

eISSN:

2630-5712

Özet:

 


A nonlinear programming approach for the inverted pendulum swing-up control is presented. Even though it is an energy-based method, it uses fundamentally different mathematical tools to achieve the swing-up goal. The control problem translated into nonlinear programming model with appropriate objective function and constraints. While the objective function provides energy increase in the system, physical restrictions of the system are handled in the constraints of the nonlinear programming model. It is also shown that this model is intrinsically suitable for embedding any nonlinear system constraints. Simulation results for illustrative cases are included to validate the design method.

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A nonlinear programming approach for the inverted pendulum swing-up control is presented. Even though it is an energy-based method, it uses fundamentally different mathematical tools to achieve the swing-up goal. The control problem translated into nonlinear programming model with appropriate objective function and constraints. While the objective function provides energy increase in the system, physical restrictions of the system are handled in the constraints of the nonlinear programming model. It is also shown that this model is intrinsically suitable for embedding any nonlinear system constraints. Simulation results for illustrative cases are included to validate the design method.


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Makale detayları

A Nonlinear Programming Approach For The Swing-Up Control Problem

Yazarlar: Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı: Eskişehir Osmangazi University

Ana Başlıklar: Veri işleme & bilgisayar bilimi

Dergi: Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2008 Vol.21 Issue 2, pp.109-124

Belge Tipi: Makale

Yayın Tarihi: 12/2008

Belge Dili: Türkçe

Document ID (Org No.): 2000416557

eISSN: 2630-5712

Sayı

Yazarlar:

Ahmet YAZICI | Abdurrahman KARAMANCIOĞLU

Yayıncı:

Eskişehir Osmangazi University

Ana Başlıklar:

Veri işleme & bilgisayar bilimi

Dergi:

Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University 2008 Vol.21 Issue 2, pp.109-124

Belge Tipi:

Makale

Yayın Tarihi:

12/2008

Belge Dili:

Türkçe

Document ID (Org No.):

2000416557

eISSN:

2630-5712