Trajectory tracking control of variable length pendulum by partial energy shaping

DOI10.1016/J.CNSNS.2013.09.011MaRDI QIDQ2299767zbMATH OpenOpenAlexFDO

Authors Xin Xin, Yannian Liu

Publication date 24 February 2020

Published in Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.cnsns.2013.09.011

zbMATH Keywords

Lyapunov stabilitypartial energy shapingstability analysisswing motiontrajectory tracking controlvariable length pendulum

Mathematics Subject Classification ID

Motion of a rigid body with a fixed point (70E17) Control of mechanical systems (70Q05) Feedback control (93B52)

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Cites work

• Analysis of the energy‐based swing‐up control of the Acrobot
• Computed torque control of an under-actuated service robot platform modeled by natural coordinates
• Dynamics of the pendulum with periodically varying length
• Energy based control of the Pendubot
• Global tracking control of underactuated ships by Lyapunov's direct method
• How to Pump a Swing
• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
• Nonlinear systems.
• Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• The chaotic synchronization of a controlled pendulum with a periodically forced, damped Duffing oscillator
• The stability of the equilibrium of a pendulum of variable length

Cited in

(6)

• Challenging simulation practice (failure and success) on implicit tracking control of double-integrator system via Zhang-gradient method
• Controlling the variable length pendulum: analysis and Lyapunov based design methods
• Pendulum system with elevated track: length of pendulum with minimum tracking error
• Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
• Amplitude and rotational speed control of variable length pendulum by periodic input
• Analytical and numerical study on a parametric pendulum with the step-wave modulation of length and forcing

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