Swinging up the spherical pendulum via stabilization of its first integrals

Autor:	H. Ludvigsen, Anton S. Shiriaev, Olav Egeland
Rok vydání:	2004
Předmět:	Physics Physics::Popular Physics Double inverted pendulum Double pendulum Control and Systems Engineering Control theory Spherical pendulum Spring pendulum Inertia wheel pendulum Kapitza's pendulum Electrical and Electronic Engineering Furuta pendulum Inverted pendulum
Zdroj:	Automatica. 40:73-85
ISSN:	0005-1098
DOI:	10.1016/j.automatica.2003.07.009
Popis:	This paper presents a new controller for swinging up the spherical pendulum. The problem of stabilizing the upright equilibrium of the spherical pendulum is typically solved in two steps: First, a controller is used to swing up the pendulum so that it enters some vicinity of the upright equilibrium, and then a locally stabilizing controller is used. The contribution of this paper is the design of a controller that solves the first subproblem for almost all initial conditions. The controller stabilizes the two-dimensional stable manifold of the hyperbolic upright equilibrium. The proposed technique is based on the passivity properties of the spherical pendulum.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b790620313f28231831f0ab347f62175 https://doi.org/10.1016/j.automatica.2003.07.009 Zobrazit plný text záznamu Full Text from ScienceDirect