{"title":"摆车系统的实时时间最优控制","authors":"A. Turnau, A. Korytowski, M. Szymkat","doi":"10.1109/CCA.1999.801151","DOIUrl":null,"url":null,"abstract":"An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"Time optimal control for the pendulum-cart system in real-time\",\"authors\":\"A. Turnau, A. Korytowski, M. Szymkat\",\"doi\":\"10.1109/CCA.1999.801151\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.\",\"PeriodicalId\":325193,\"journal\":{\"name\":\"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-08-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1999.801151\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1999.801151","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Time optimal control for the pendulum-cart system in real-time
An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.
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