On motions without falling of an inverted pendulum with dry friction

DOI10.3934/JGM.2018015MaRDI QIDQ1734869zbMATH OpenOpenAlexWikidataFDO

Authors Ivan Polekhin

Publication date 27 March 2019

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1806.01075

zbMATH Keywords

Filippov systemdry frictioninverted pendulumcontinuous dependence on initial conditionsWażewski method

Mathematics Subject Classification ID

Ordinary differential inclusions (34A60) Topological dynamics of nonautonomous systems (37B55) Forced motions for nonlinear problems in mechanics (70K40)

Abstract: An inverted planar pendulum with horizontally moving pivot point is considered. It is assumed that the law of motion of the pivot point is given and the pendulum is moving in the presence of dry friction. Sufficient conditions for the existence of solutions along which the pendulum never falls below the horizontal positions are presented. The proof is based on the fact that solutions of the corresponding differential inclusion are right-unique and continuously depend on initial conditions, which is also shown in the paper.

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Cited in

(5)

• Friction force characteristics in a pendulum with Coulomb friction and a non-constant normal force.
• Examples of topological approach to the problem of inverted pendulum with moving pivot point
• Simple pendulum with speed-independent bearing friction
• scientific article; zbMATH DE number 817281 (Why is no real title available?)
• Remarks on the covering of the possible motion area by solutions in rigid body systems

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