DocumentCode
574155
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
fYear
2012
fDate
27-29 June 2012
Firstpage
1023
Lastpage
1028
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6314739
Filename
6314739
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