Stabilization of Stable Manifold of Upright Position of the Spherical Pendulum
| Autor: | Hallgeir Ludvigsen, Anton Shiriaev, Olav Egeland |
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| Jazyk: | angličtina |
| Rok vydání: | 2001 |
| Předmět: | |
| Zdroj: | Modeling, Identification and Control, Vol 22, Iss 1, Pp 3-14 (2001) |
| Druh dokumentu: | article |
| ISSN: | 0332-7353 1890-1328 |
| DOI: | 10.4173/mic.2001.1.1 |
| Popis: | The stabilization problem of the upright position of the sherical pendulum is treated in detail. This problem is reduced to the stabilization of the stable manifold Omega_st of the upright position of the unforced spherical pendulum. It is shown that for any smooth feedback control derived by the speed-gradient algorithm with the objective to stabilize Omega_st the closed loop system has a limit cycle Gamma, which does not belong to the desired attractor Omega_st. It is shown that Gamma is hyperbolic. |
| Databáze: | Directory of Open Access Journals |
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