 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| A. M. Formal’skii, "Global stabilization of a double inverted pendulum with control at the hinge between the links," Mech. Solids. 43 (5), 687-697 (2008) |
| Year |
2008 |
Volume |
43 |
Number |
5 |
Pages |
687-697 |
| DOI |
10.3103/S0025654408050014 |
| Title |
Global stabilization of a double inverted pendulum with control at the hinge between the links |
| Author(s) |
A. M. Formal’skii (Institute of Mechanics, Lomonosov Moscow State University, Michurinskii pr-t 1, Moscow, 119192, Russia, formal@imec.msu.ru) |
| Abstract |
We study the plane motion of a double pendulum with fixed suspension point. The pendulum is controlled by a single moment applied to the internal hinge between the links. The moment is assumed to be bounded in absolute value. We construct a feedback control law bringing the pendulum from the position in which both links hang vertically downwards into the unstable upper position in which both links are inverted. The same feedback ensures the asymptotic stability of the pendulum in the upper equilibrium position. Since the pendulum can be brought to the lower equilibrium position from any initial states, it follows that the constructed control law ensures the global stability of the inverted pendulum. |
| Received |
19 June 2006 |
| Link to Fulltext |
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