Modeling of Inverted Elastic Pendulum on Cart with Tip Mass (IEPCTM) system having multiple dynamic equilibria

Gorade, Sanket Kailas; Kurode, Shailaja; Gandhi, Prasanna S.

doi:10.1109/iic.2015.7150861

Cited by 4 publications

(1 citation statement)

References 16 publications

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“…The system is widely applied experimentally as an example of a nonlinear mechanical system to demonstrate chaotic behavior upon harmonic excitation. Recent studies on chaos in inverted flexible pendulum with tip mass were demonstrated by Gorade et al [3] introduced a new mechanical approach for modeling the system of an elastic inverted pendulum on a cart with significant tip mass having multiple dynamic equilibria, with the mathematical model is framed using Euler-Lagrange analysis. Donaire et al in [4] performed the control of underactuated nonlinear mechanical systems using energy shaping procedure without solving the partial differential equations (PDEs).…”

Section: Control Of Nonlinear Mechanical Systemsmentioning

confidence: 99%

Time-frequency energy analysis of chaotic mechanical system affected by additive impulses

Kahar¹,

Söffker²

2019

Vib. proced.

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Chaotic vibrations in elastic mechanical systems are not stationary. In the considered case a transient induced vibration is discussed. Here the energy is concentrated in different varying frequency ranges. This contribution considers an experimental investigation of jumping phenomena in this system under chaotic vibrations, driven by cart under harmonic excitation. Using this system, the data of jumping phenomenon during the chaotic vibration are collected and analyzed. Here, time-frequency energy method can effectively show the characteristics of energy in time domain and perform the component analysis in specific frequency range. Applying a comparative study of jumping phenomenon discussing different equilibria, frequency range recognition, and energy characterization, the jumping phenomenon of the pendulum signal induced by chaotic vibration is characterized. A state transition model is established. Further, an additive impulsive control on the elastic system is considered to validate the model.

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Section: Control Of Nonlinear Mechanical Systemsmentioning

confidence: 99%

Time-frequency energy analysis of chaotic mechanical system affected by additive impulses

Kahar¹,

Söffker²

2019

Vib. proced.

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Robust stabilization of Inverted Flexible Beam on cart using Sliding Mode Control

Gorade¹,

Kurode

2015

2015 International Conference on Power and Advanced Control Engineering (ICPACE)

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This paper presents mathematical model and robust control design for Inverted Flexible Beam (IFB) on cart system. Firstly, the system of IFB on cart is modeled using energy approach. Flexibility of beam is accounted by assuming spring connected imaginary structure. Proposed model is simulated and validated with experimental results. Secondly, a robust Sliding Mode Control (SMC) is developed to stabilize the beam vertically on the cart, despite the action of uncertainties and disturbances on the system. A stable sliding surface is formulated and using Gao's reaching law, sliding mode control input is synthesized for the cart. By feeding suitable controlled motion to the cart, IFB is stabilized and the flexibility vibrations are also eliminated com pletely. The performance of SMC is compared with Proportional Integral Derivative (PID) control. Accuracy, robustness, speed and superiority of designed SMC is demonstrated in simulations.

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Modeling and output feedback control of Flexible Inverted Pendulum on Cart

Gorade¹,

Gandhi

Kurode

2015

2015 International Conference on Power and Advanced Control Engineering (ICPACE)

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Modeling of Inverted Elastic Pendulum on Cart with Tip Mass (IEPCTM) system having multiple dynamic equilibria

Cited by 4 publications

References 16 publications

Time-frequency energy analysis of chaotic mechanical system affected by additive impulses

Time-frequency energy analysis of chaotic mechanical system affected by additive impulses

Robust stabilization of Inverted Flexible Beam on cart using Sliding Mode Control

Modeling and output feedback control of Flexible Inverted Pendulum on Cart

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