A light weight rotary double pendulum: maximizing the domain of attraction

Author

Brockett, R.W. ; Li, Hongyi

Author_Institution

Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3299

Abstract

The usual application of feedback stabilization is based on linearization and the assumption of linear controllability. Least squares optimal control is often used to determine a set of feedback gains that will stabilize the system. In addition to the commonly acknowledged challenges arising when this methodology is applied to open-loop unstable systems with significant nonlinearities, there are also significant problems which are not given prominence in the literature. These include the role of high gain feedback in exciting vibrations in unmodeled modes and the possibility of lightly damped oscillatory modes accentuating the effect of the nonlinearities. In this paper we report some experimental results relating to these points and suggest some techniques for dealing with them.

Keywords

control nonlinearities; controllability; feedback; least squares approximations; linearisation techniques; nonlinear systems; open loop systems; optimal control; optimisation; pendulums; stability; feedback stabilization; high gain feedback; least squares optimal control; light weight rotary double pendulum; lightly damped oscillatory modes; linear controllability; linearisation techniques; maximisation; nonlinearities effect; open loop unstable systems; Control systems; History; Joining processes; Least squares methods; Linear feedback control systems; Open loop systems; Optimal control; Torque; Vibrations; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271652

Filename

1271652