Stabilization of an inverted pendulum with a fixed or movable suspension point

被引：5
|
作者：
Formal'skii, A. M. [1 ]
机构：
[1] Moscow MV Lomonosov State Univ, Inst Mech, Moscow 117192, Russia
来源：
DOKLADY MATHEMATICS | 2006年 / 73卷 / 01期
基金：
俄罗斯基础研究基金会;
关键词：
Inverted Pendulum; Suspension Point;
D O I：
10.1134/S1064562406010406
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
An invested pendulum with a fixed or movable suspension point is stabilized. The plane motion of controlled one-link pendulum with a fixed suspension point or a suspensions point attached to the center of wheel that roles on a smooth horizontal surface is consider. The control torque applied to the pendulum at the suspension point is bounded in absolute value. It is shown that the controllability domain for the pendulum with a suspension point attached to wheel is larger than that of pendulum with a fixed suspension point.
引用
收藏
页码：152 / 156
页数：5
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