Model-free Control with Algebraic Estimator Ultra-local Applied to a Rotational Inverted Pendulum

Le résumé fourni par la source

This paper explores the application of a model-free control technique to a rotational inverted pendulum. The control law incorporates an algebraic estimator for estimating the system dynamics within a short time window (ultra-local) and includes a term to enforce the desired closed-loop dynamics. Due to the underactuation of the system, a modification to the control law was implemented to stabilize the arm's position, since the original control law is of the input-output type. Experimental results demonstrate the successful application of this technique to unstable systems, such as the inverted pendulum.

Ce résumé expose les affirmations des auteurs. BNTIC ne l’interprète pas comme une validation indépendante des résultats.