Мақаланы E-mail арқылы жіберу Optimal control of a spherical inverted pendulum
- Авторлар: Manita L.1, Ronzhina M.2,3
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Мекемелер:
- 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)
- Шығарылым: Том 38, № 5 (2017)
- Беттер: 954-957
- Бөлім: Article
- URL: https://journals.rcsi.science/1995-0802/article/view/200265
- DOI: https://doi.org/10.1134/S1995080217050262
- ID: 200265
Дәйексөз келтіру
Ашық рұқсат
Рұқсат берілді
Тек жазылушылар үшін
Аннотация
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.
Негізгі сөздер
Авторлар туралы
L. Manita
National Research University Higher School of Economics, MIEM HSE
Хат алмасуға жауапты Автор.
Email: lmanita@hse.ru
Ресей, Moscow, 123458
M. Ronzhina
Faculty of Mathematics and Mechanics; Gubkin Russian State University of Oil and Gas (National Research University)
Email: lmanita@hse.ru
Ресей, GSP-1, Moscow, 119991; Moscow, 119991
