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Speaker: Ying Luo Department of ECE USU UT, USA

Robust Control of Cart-Pendulum Dynamics against Uncertain Multiple Time Delays Mursel Emre Cavdaroglu, Nejat Olgac, University of Connecticut. Speaker: Ying Luo Department of ECE USU UT, USA. Why do I present this paper ?

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Speaker: Ying Luo Department of ECE USU UT, USA

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  1. Robust Control of Cart-Pendulum Dynamics against Uncertain Multiple Time Delays Mursel Emre Cavdaroglu, Nejat Olgac,University of Connecticut. Speaker: Ying Luo Department of ECE USU UT, USA

  2. Why do I present this paper ? I. We have the experimental setup of invert-pendulum-on-the -cart mentioned in this paper. II. We can obtain enlightenment of fractional order motion control from this paper which will be proposed later.

  3. Abstract: This paper consider a fixed control law on the cart-pendulum system. The feedback line is affected by multiple independent time delays. The main aim of this effort is to accomplish a successful trajectory tracking on a practical, underactuated mechanical system under the presence of multiple time delays. As a novel contribution to the controls area, this study shows that underactuated systems with multiple delays may exhibit better performance for larger delay values when they are properly selected.

  4. Experimental setup:

  5. (1) Nonlinear mathematical model of the cart- pendulum system

  6. (2) Friction identification

  7. (3) Controller design without delay

  8. (3) Controller design without delay This paper deal with the trajectory tracking control for the cart while maintaining the pendulum in the upright position (θ = 0) using a full state feedback law. The fixed control law to achieve this is designed based on the non-delayed linear system using the LQR optimum control design methodology.

  9. (4) The delay effect in feedback

  10. (4) The delay effect in feedback

  11. (4) The delay effect in feedback

  12. (4) The delay effect in feedback

  13. (4) The delay effect in feedback

  14. (4) The delay effect in feedback

  15. (4) The delay effect in feedback

  16. (4) The delay effect in feedback

  17. (5) What should we dig further based on this result ? • Low speed position/velocity control with friction using fractional order controller. • Can we do some stability research on the the fractional order controller dealing with the delay effect using CTCR ?

  18. Thanks for your attention !

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