On stabilization of an inverted double pendulum with one control torque

DOI10.1134/S1064230706030014zbMath1260.93133MaRDI QIDQ1946400

Alexander M. Formalskii

Publication date: 12 April 2013

Published in: Journal of Computer and Systems Sciences International (Search for Journal in Brave)

Mathematics Subject Classification ID

93B05: Controllability

93D15: Stabilization of systems by feedback

93C10: Nonlinear systems in control theory

93C15: Control/observation systems governed by ordinary differential equations

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Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose, Stabilizing equilibrium states of double pendulum loaded by follower and concervative forces, Optimal synthesis in the control problem of an \(n\)-link inverted pendulum with a moving base, Unstable oscillating systems with hysteresis: problems of stabilization and control, An experiment with swinging up a double pendulum using feedback control, Bringing a multilink pendulum to the equilibrium position using a single control torque, Decomposition-based continuous control of mechanical systems, Optimal attitude control of two pivotally connected bodies in the supportless phase of motion, Optimal conditions with chattering in the inverted two-link pendulum control problem

Cites Work

• Decomposition method in the problem of controlling an inverted double pendulum with the use of one control moment
• Normal forms for underactuated mechanical systems with symmetry
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