A time-optimal control of steering an unstable rod
被引:0
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作者:
Yu. F. Golubev
论文数: 0引用数: 0
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机构:Russian Academy of Sciences,Keldysh Institute of Applied Mathematics
Yu. F. Golubev
机构:
[1] Russian Academy of Sciences,Keldysh Institute of Applied Mathematics
来源:
Journal of Computer and Systems Sciences International
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2008年
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47卷
关键词:
Time Instant;
System Science International;
Inverted Pendulum;
Support Point;
Suspension Point;
D O I:
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学科分类号:
摘要:
The problem of controlling a system consisting of a weighty rod leaning on a movable support by its bottom end is investigated. Under the assumption that the support moves without inertia with a bounded velocity, a time-optimal motion from an unstable initial equilibrium of the system to another its unstable equilibrium position is found. It is shown that the law of optimal velocity of the support motion belongs to the boundary of the admissible domain and has no more than two switches from one limit value to another. Calculation formulas for determining the time instants of switches of the support velocity are obtained depending on the boundary conditions. The results of computer simulation of the system with account of inertia of the support motion are presented.
机构:
MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USAMIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA
Aiello, Clarice D.
Cappellaro, Paola
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机构:
MIT, Dept Nucl Sci & Engn, Cambridge, MA 02139 USA
MIT, Elect Res Lab, Cambridge, MA 02139 USAMIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA
机构:Department of Electrical Engineering and Applied Physics, Center for Automation and Intelligent Systems Research, Case Western Reserve University, Cleveland