Optimal control of a spherical inverted pendulum
- 作者: Manita L.1, Ronzhina M.2,3
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隶属关系:
- 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)
- 期: 卷 38, 编号 5 (2017)
- 页面: 954-957
- 栏目: Article
- URL: https://journals.rcsi.science/1995-0802/article/view/200265
- DOI: https://doi.org/10.1134/S1995080217050262
- ID: 200265
如何引用文章
详细
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.
作者简介
L. Manita
National Research University Higher School of Economics, MIEM HSE
编辑信件的主要联系方式.
Email: lmanita@hse.ru
俄罗斯联邦, Moscow, 123458
M. Ronzhina
Faculty of Mathematics and Mechanics; Gubkin Russian State University of Oil and Gas (National Research University)
Email: lmanita@hse.ru
俄罗斯联邦, GSP-1, Moscow, 119991; Moscow, 119991