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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/7231
Title: Design and implementation of adaptive control logic for cart-inverted pendulum system
Authors: Hanwate S.
Hote, Yogesh Vijay
Budhraja A.
Published in: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Abstract: In this article, an adaptive control logic is proposed to serve as a supervisory control system sufficient to curb the adverse effects due to modelling uncertainties and external disturbances. The control logic belongs to the class of adaptive control methodologies. The attractive attribute of this technique is that only the superior features of each individual candidate controller are obtained by applying appropriate weight to these controllers. In order to prove its effectiveness and applicability, the benchmark problem for stabilization of cart-inverted pendulum system is carried out using this technique. The system performance is tried against that with each individual candidate controllers existing techniques. In addition, the simulation-based analysis is strengthened by analysing the performance of a real-time cart-inverted pendulum system setup, stabilized using the proposed control logic. © IMechE 2018.
Citation: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering (2019), 233(2): 164-178
URI: https://doi.org/10.1177/0959651818788148
http://repository.iitr.ac.in/handle/123456789/7231
Issue Date: 2019
Publisher: SAGE Publications Ltd
Keywords: Adaptive control logic
cart inverted pendulum
gradient descent
proportional integral derivative
stability boundary locus
ISSN: 9596518
Author Scopus IDs: 56538626500
24173118500
57189294557
Author Affiliations: Hanwate, S., Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India
Hote, Y.V., Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, India
Budhraja, A., Department of Electrical and Computer Engineering, Duke University, Durham, NC, United States
Funding Details: All the authors would like thank the reviewers for their valuable suggestions to improve the quality of paper and also, the first author would like to thank the Ministry of Human Resource and Development, Government of India, for providing fellowship to him to pursue the doctoral degree at Indian Institute of Technology Roorkee, India.
Corresponding Author: Hanwate, S.; Department of Electrical Engineering, Indian Institute of Technology RoorkeeIndia; email: hanwate.sandeep@gmail.com
Appears in Collections:Journal Publications [EE]

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