Email this article Optimal control of a spherical inverted pendulum
- Authors: Manita L.1, Ronzhina M.2,3
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Affiliations:
- National Research University Higher School of Economics, MIEM HSE
- Faculty of Mathematics and Mechanics
- Gubkin Russian State University of Oil and Gas (National Research University)
- Issue: Vol 38, No 5 (2017)
- Pages: 954-957
- Section: Article
- URL: https://journals.rcsi.science/1995-0802/article/view/200265
- DOI: https://doi.org/10.1134/S1995080217050262
- ID: 200265
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Abstract
We consider a mathematical model of a spherical inverted pendulum on a movable cart. The cart moves on a horizontal plane under the influence of a planar bounded force. We study an optimal control problem related to this model. The control objective is to stabilize the inverted pendulum in the upright equilibrium position. For the linearized model it is shown that the optimal trajectories contains arcs with more and more frequent control switchings.
About the authors
L. Manita
National Research University Higher School of Economics, MIEM HSE
Author for correspondence.
Email: lmanita@hse.ru
Russian Federation, Moscow, 123458
M. Ronzhina
Faculty of Mathematics and Mechanics; Gubkin Russian State University of Oil and Gas (National Research University)
Email: lmanita@hse.ru
Russian Federation, GSP-1, Moscow, 119991; Moscow, 119991
