Abstract
Abstract This paper deals with the tracking control of a particular heavy chain system, which consists of a chain mounted onto a pivoted disk. To this end, the governing system of ordinary differential equations is derived and a trajectory is computed via numerical optimization. As the arising optimization problem is computationally complex, a multithreading algorithm for parallel computation of the required derivatives is presented. Furthermore, a stabilizing feedback controller, based on damping injection and an integrator backstepping approach, is derived. Finally, measurements of a laboratory experiment show an excellent performance of the proposed control concept.
Published Version
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