Title :
Synchronizing N cart-pendulums using virtual holonomic constraints
Author :
Jankuloski, D. ; Maggiore, Manfredi ; Consolini, Luca
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
Abstract :
A solution is presented to the problem of synchronizing a chain of N cart-pendulums using virtual holonomic constraints. The approach is based on a master-slave configuration whereby the first cart-pendulum is controlled so as to stabilize a desired oscillation around its unstable equilibrium. Then, each remaining cart-pendulum is controlled so as to fully synchronize it to the previous pendulum.
Keywords :
nonlinear control systems; pendulums; stability; synchronisation; N cart-pendulum synchronization; first cart-pendulum; master-slave configuration; oscillation stability; virtual holonomic constraints; Dynamics; Energy states; Level set; Manifolds; Oscillators; Synchronization; Vectors;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6314739
