논문 국내 국제전문학술지(SCI급) Observer-based online self-tuning position control for linear motion inverted pendulum
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2020-07
- 저자명 김동수,김용훈,김석균
- 학술지명 Journal of Institute of Control, Robotics and Systems
- 발행처명 Institute of Control, Robotics and Systemsjournal@ijcas.com
- 발행국가 국내
- 논문언어 한국어
- 전체저자수 3
홈페이지논문 초록 (Abstract)
This study presents an observer-based positioning technique with online self-tuning capability for linear motion inverted pendulum systems. The true system parameter values are not required to implement the control algorithm. The observers for estimating the linear and angular velocities do not use the system parameter information, nominal or otherwise. The online self-tuning mechanism adjusts the closed-loop cut-off frequency during the transient periods. The resulting benefits are verified numerically using MATLABa�?s Simulink software.