Отправить статью по E-mail Optimal control of a spherical inverted pendulum
- Авторы: Manita L.1, Ronzhina M.2,3
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Учреждения:
- 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)
- Выпуск: Том 38, № 5 (2017)
- Страницы: 954-957
- Раздел: Article
- URL: https://journals.rcsi.science/1995-0802/article/view/200265
- DOI: https://doi.org/10.1134/S1995080217050262
- ID: 200265
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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.
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Об авторах
L. Manita
National Research University Higher School of Economics, MIEM HSE
Автор, ответственный за переписку.
Email: lmanita@hse.ru
Россия, Moscow, 123458
M. Ronzhina
Faculty of Mathematics and Mechanics; Gubkin Russian State University of Oil and Gas (National Research University)
Email: lmanita@hse.ru
Россия, GSP-1, Moscow, 119991; Moscow, 119991
