Title of article :
Stabilization of a 3D axially symmetric pendulum
Author/Authors :
Chaturvedi، نويسنده , , N.A. and McClamroch، نويسنده , , N.H. and Bernstein، نويسنده , , D.S.، نويسنده ,
Issue Information :
روزنامه با شماره پیاپی سال 2008
Pages :
8
From page :
2258
To page :
2265
Abstract :
Stabilizing controllers are developed for a 3D pendulum assuming that the pendulum has a single axis of symmetry and that the center of mass lies on the axis of symmetry. This assumption allows development of a reduced model that forms the basis for controller design and global closed-loop analysis; this reduced model is parameterized by the constant angular velocity component of the 3D pendulum about its axis of symmetry. Several different controllers are proposed. Controllers based on angular velocity feedback only, asymptotically stabilize the hanging equilibrium. Then controllers are introduced, based on angular velocity and reduced attitude feedback, that asymptotically stabilize either the hanging equilibrium or the inverted equilibrium. These problems can be viewed as stabilization of a Lagrange top. Finally, if the angular velocity about the axis of symmetry is assumed to be zero, controllers are introduced, based on angular velocity and reduced attitude feedback, that asymptotically stabilize either the hanging equilibrium or the inverted equilibrium. This problem can be viewed as stabilization of a spherical pendulum.
Keywords :
3D pendulum , Spherical pendulum , Inverted equilibrium , Lagrange top , Swing-up
Journal title :
Automatica
Serial Year :
2008
Journal title :
Automatica
Record number :
1447102
Link To Document :
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