Szczegóły publikacji
Opis bibliograficzny
Time-optimal control for reaction wheel pendulum / Maciej ROSÓŁ, Adam PIŁAT, Andrzej TURNAU // W: MMAR 2016 : 21th international conference on Methods and Models in Automation and Robotics : 29 August–01 September 2016, Międzyzdroje, Poland : program, abstracts. — Szczecin : ZAPOL Sobczyk Sp. j., [2016]. — Dod. ISBN: 978-1-5090-1866-6. — ISBN: 978-83-7518-791-5. — S. 111. — Pełny tekst na dołączonym dysku Flash. — S. 1057–1062 ID D2L-C 02-6228. — Wymagania systemowe: Adobe Reader. — Bibliogr. s. 1062, Abstr. — ISBN 978-1-5090-1867-3
Autorzy (3)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 99959 |
|---|---|
| Data dodania do BaDAP | 2016-09-21 |
| DOI | 10.1109/MMAR.2016.7575284 |
| Rok publikacji | 2016 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Konferencja | 21th international conference on Methods and Models in Automation and Robotics |
Abstract
A control numerical algorithm solving the time-optimal problem for the reaction wheel pendulum system, fully effective in the open loop, is examined in the real-time system. There are two control tasks. The first is to transfer the pendulum from the lower to the upper equilibrium point. The second is to transfer the pendulum from the upper to the lower equilibrium point. Both motions are accomplished in the minimal time. Simulated and real-time trajectories are compared. The time-optimal control strategy is concluded.