Nonlinear dynamics of the 3D pendulum

DOI10.1007/S00332-010-9078-6MaRDI QIDQ2430405zbMATH OpenOpenAlexFDO

Authors Nalin A. Chaturvedi, Tae-Young Lee, Melvin Leok, N. Harris Mcclamroch

Publication date 6 April 2011

Published in Journal of Nonlinear Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial 4.0 International

Full work available at URL https://arxiv.org/abs/0707.1196

zbMATH Keywords

chaosnonintegrable systemrelative equilibriastability

Mathematics Subject Classification ID

Motion of a rigid body with a fixed point (70E17) Nonintegrable systems for problems in Hamiltonian and Lagrangian mechanics (70H07) Stability for nonlinear problems in mechanics (70K20) Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics (70K55)

Abstract: A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the spherical 2D pendulum models as special cases. The case where the rigid body is asymmetric and the center of mass is distinct from the pivot location leads to the 3D pendulum. Full and reduced 3D pendulum models are introduced and used to study important features of the nonlinear dynamics: conserved quantities, equilibria, invariant manifolds, local dynamics near equilibria and invariant manifolds, and the presence of chaotic motions. These results demonstrate the rich and complex dynamics of the 3D pendulum.

Recommendations

• A generalized perturbed pendulum.
• The Motion of the Spherical Pendulum Subjected to a $D_n$ Symmetric Perturbation
• The dynamical behavior of a rigid body relative equilibrium position
• scientific article; zbMATH DE number 1820037
• scientific article; zbMATH DE number 6882615

Cites work

• Asymptotic stabilization of the hanging equilibrium manifold of the 3D pendulum
• scientific article; zbMATH DE number 982502 (Why is no real title available?)
• Invariant sets in the Goryachev–Chaplygin problem: existence, stability and branching
• Lagrangian reduction by stages
• Mathematical Models for the Triaxial Attitude Control Testbed
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• On the Stability of Relative Equilibria
• Reduction theory and the Lagrange-Routh equations.
• Relative equilibria for the generalized rigid body
• Swinging up a pendulum by energy control
• The heavy top: a geometric treatment

Cited in

(9)

• A generalized perturbed pendulum.
• Almost global attitude stabilisation of an underactuated axially symmetric 3-D pendulum
• A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
• scientific article; zbMATH DE number 1820037 (Why is no real title available?)
• The \(N\)-link pendulum: embedding nonlinear dynamics into the multidimensional scaling method
• scientific article; zbMATH DE number 5039364 (Why is no real title available?)
• Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments
• Solving optimal control problems by exploiting inherent dynamical systems structures
• Resonant motions of the three-dimensional elastic pendulum

This page was built for publication: Nonlinear dynamics of the 3D pendulum

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2430405)