21st IFAC World Congress will take place in Berlin on July 11-17, 2020. It is the principal scientific event in the domain of automatic control, which is organized once in three years.
Valse team has more than 20 accepted papers at this major event!
One of them deals with adaptive stabilization by delay of a class of uncertain mechanical systems, where the measurements are available with a constant bias. Using delayed output values we avoid an observer design, which allows us to simplify the controller structure (decrease the amount of computations) at the price of a more sophisticated analysis. The results of application of this strategy to a reaction wheel inverted pendulum swing up are given in the video:
Utilization of a standard PID (LQR) control does lead to stabilization of reaction wheel rotation, while our approach with bias on-line identification solves the problem.
