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Tobias Glück
Registrace 29. 03. 2011
Self-sensing magnetic leviation system
Self-sensing magnetic levitation system
Flatness-based position controller
Least squares position estimation
FPGA implementation
TU Vienna ACIN CDS www.acin.tuwien.ac.at/
Done by Mathias Blank and Tobias Glück
users.acin.tuwien.ac.at/tglueck/
Glück T., Kemmetmüller W., Tump C., and Kugi A: A novel robust position estimator for self-sensing magnetic levitation systems based on least squares identification.
Control Engineering Practice, vol. 19, no. 2, pp. 146-157, 2011.
www.sciencedirect.com/science/article/pii/S0967066110002509
Flatness-based position controller
Least squares position estimation
FPGA implementation
TU Vienna ACIN CDS www.acin.tuwien.ac.at/
Done by Mathias Blank and Tobias Glück
users.acin.tuwien.ac.at/tglueck/
Glück T., Kemmetmüller W., Tump C., and Kugi A: A novel robust position estimator for self-sensing magnetic levitation systems based on least squares identification.
Control Engineering Practice, vol. 19, no. 2, pp. 146-157, 2011.
www.sciencedirect.com/science/article/pii/S0967066110002509
zhlédnutí: 11 552
Video
Side-Stepping of the Triple Pendulum on a Cart
zhlédnutí 135KPřed 13 lety
Triple Pendulum on a Cart Side-stepping Two-degrees-of-freedom design: Constrained feedforward based on the nonlinear model vs. Flatness-based feedforward control on the linearized model with optimal feedback control TU Vienna ACIN CDS www.acin.tuwien.ac.at/ Done by Andreas Eder and Tobias Glück users.acin.tuwien.ac.at/tglueck/
Pendulum on a Cart
zhlédnutí 12KPřed 13 lety
Pendulum on a Cart Swing-up Two-degrees-of-freedom design: Constrained feedforward & optimal feedback control TU Vienna ACIN CDS www.acin.tuwien.ac.at/ Done by Tobias Glück users.acin.tuwien.ac.at/tglueck/
Triple Pendulum on a Cart
zhlédnutí 710KPřed 13 lety
Triple Pendulum on a Cart Swing-up and Swing-down Two-degrees-of-freedom design: Constrained feedforward & optimal feedback control TU Wien ACIN CDS www.acin.tuwien.ac.at/ Done by Andreas Eder and Tobias Glück Publications: Glück T., Eder A., and Kugi A: Swing-up control of a triple pendulum on a cart with experimental validation. Automatica, vol. 49, no. 3, pp. 801-808, 2013. www.sciencedirect...
Double Pendulum on a Cart
zhlédnutí 228KPřed 13 lety
Double Pendulum on a Cart 12 x point-to-point control and 4 x side-stepping Two-degrees-of-freedom design: Constrained feedforward & optimal feedback control TU Vienna ACIN CDS www.acin.tuwien.ac.at/ Done by Andreas Eder and Tobias Glück users.acin.tuwien.ac.at/tglueck/
amazing, good job bro
Which motor is being used and whats the total latency
THIS + HANDHELD CONSOLE CONTROLLER = HOURS OF FUN
Now make it hold sideways :P
HOW IS THIS 13 YEARS AGO 😳 Is there one with 4 parts nowadays?
are yall also from that neural network video with the double pendulum?
straight fire
12 years later, and we have all 7 states and 56 transitions for a triple pendulum: czcams.com/video/I5GvwWKkBmg/video.html
My internal physics model is unable to accept this.
How did you send signal and power to the second pendulum encoder without the wire getting caught?
Thus is mesmerising
To this day, I"m still impressed by this! What's the theoretical maximum of pendulums you can balance? At what point does it become as hard as balancing a rope up?
BRAVO AUTOMATION !!!
mindblowing
is it theoretically possible to step this up with more than 2joints? Cause if the resonant frequency of each inverted pendulum is the same, i cant think of a chance achiving this.
Completely useless in real life yet useful for every student to know ha ha
haha cart go vrrr
Jesus Christ.....
That looks very fun
Stupendo!!!! Complimenti ✌️
Incredible!
Write an algorithm that tracks each point in relation to each other and more
Hello, could you please guide me through the procedure of making the cart system and if possible a full step by step procedure of making this project?
Woah, I'd love to see a human being able to bring the three segments up and make them stay there for a couple of seconds! What a beautiful machine!
I learned a little bit of control system stuff and I know it's really hard. Imagine evaluating the transfer function for this system AND designing a controller for it, oh my god.. This is a truly amazing work.
I dont understand exactly why but i know this is impressive
Truck drivers get this.
what's up with all these triple pendulums on cards made by germans in my recommendation
good boi
Why
"my weewee goes boing boing"
People did this 10 years ago and you're telling me we still can't spend our holidays on the moon ? Smh
Engineers will balance a rope on a cart while I'm sitting on my sofa watching and eating crisps
Boy, i feel stupid...
I just wanted to see it swing
Lol it said nah fuck you
Holy shit he controlled chaos
this is amazing!
Richtig genial.
This looks like the same setup Michael Reeves used in his robot doctor. Except He used a nearly 3D movement system with quieter motors.
I have always thought it is impossible to balance these things like that...
Hold my beer!
|---------| | |-------| | | | this video | | | |-------| | | WHAT | |---------| How
Does it collapse at the end because it is so perfectly straight that the left middle join and top end move so perfectly in opposite directions that it stays balanced?
Not sure why it was suggested, but this one goes straight into my "Algorithm gems" playlist.
Now balance it sideways.
Neat!
Plot twist: it was controlled manually
So in theory you could balance a 2D chain?
this is a crime against god