Swinging up of the spherical pendulum
| Autor: | Anton S. Shiriaev, H. Ludvigsen, Olav Egeland |
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| Rok vydání: | 1999 |
| Předmět: | |
| Zdroj: | IFAC Proceedings Volumes. 32:2193-2198 |
| ISSN: | 1474-6670 |
| DOI: | 10.1016/s1474-6670(17)56372-7 |
| Popis: | The stabilization problem for the upright position of the controlled spherical pendulum is solved in the sense that all solutions Lend to the upright position. The suggested stabilizing regulator is a passive controller derived using the speed-gradient method in combination with a switching conditions. It is shown that a straightforward energy-bascd passive controller of the speed-gradient type does not even solve the stabilization problem for the compact invariant set containing the upright position. |
| Databáze: | OpenAIRE |
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