Standard

Oscillation control in the underactuated “Ball and Beam” system. / Tsarik, Vladimir.

In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 9227–9231.

Research output: Contribution to journal › Conference article

Harvard

Tsarik, V 2020, 'Oscillation control in the underactuated “Ball and Beam” system', IFAC-PapersOnLine, vol. 53, no. 2, pp. 9227–9231. <https://www.sciencedirect.com/science/article/pii/S2405896320328585>

APA

Tsarik, V. (2020). Oscillation control in the underactuated “Ball and Beam” system. IFAC-PapersOnLine, 53(2), 9227–9231. https://www.sciencedirect.com/science/article/pii/S2405896320328585

Vancouver

Tsarik V. Oscillation control in the underactuated “Ball and Beam” system. IFAC-PapersOnLine. 2020;53(2):9227–9231.

Author

Tsarik, Vladimir. / Oscillation control in the underactuated “Ball and Beam” system. In: IFAC-PapersOnLine. 2020 ; Vol. 53, No. 2. pp. 9227–9231.

BibTeX

@article{d54c507c55094741a618efd0fc17445a,
title = "Oscillation control in the underactuated “Ball and Beam” system",
abstract = "The problem of oscillatory motion construction and stabilization for the under-actuated “Ball and Beam” system is considered. Virtual holonomic constraints approach is used. System{\textquoteright}s dynamics equations are derived, their transverse linearization is implemented, the controllability is proven, the stabilization algorithm is constructed. Obtained results are confirmed with computer simulation.",
keywords = "Oscillation, Automatic control, robotics, stabilization, underactuation, ball, beam",
author = "Vladimir Tsarik",
year = "2020",
language = "English",
volume = "53",
pages = "9227–9231",
journal = "IFAC-PapersOnLine",
issn = "2405-8971",
publisher = "Elsevier",
number = "2",
note = "21th IFAC World Congress ; Conference date: 12-07-2020 Through 17-07-2020",

}

RIS

TY - JOUR

T1 - Oscillation control in the underactuated “Ball and Beam” system

AU - Tsarik, Vladimir

PY - 2020

Y1 - 2020

N2 - The problem of oscillatory motion construction and stabilization for the under-actuated “Ball and Beam” system is considered. Virtual holonomic constraints approach is used. System’s dynamics equations are derived, their transverse linearization is implemented, the controllability is proven, the stabilization algorithm is constructed. Obtained results are confirmed with computer simulation.

AB - The problem of oscillatory motion construction and stabilization for the under-actuated “Ball and Beam” system is considered. Virtual holonomic constraints approach is used. System’s dynamics equations are derived, their transverse linearization is implemented, the controllability is proven, the stabilization algorithm is constructed. Obtained results are confirmed with computer simulation.

KW - Oscillation

KW - Automatic control

KW - robotics

KW - stabilization

KW - underactuation

KW - ball

KW - beam

M3 - Conference article

VL - 53

SP - 9227

EP - 9231

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 2

T2 - 21th IFAC World Congress

Y2 - 12 July 2020 through 17 July 2020

ER -

ID: 76176121