 | | 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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| I.M. Anan'evskii, "The Control of a Three-Link Inverted Pendulum Near the Equilibrium Point," Mech. Solids. 53 (S1), 16-21 (2018) |
| Year |
2018 |
Volume |
53 |
Number |
S1 |
Pages |
16-21 |
| DOI |
10.3103/S0025654418030020 |
| Title |
The Control of a Three-Link Inverted Pendulum Near the Equilibrium Point |
| Author(s) |
I.M. Anan'evskii (Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences, Moscow, 119526 Russia, e-mail: anan@ipmnet.ru) |
| Abstract |
The problem of control of a plane three-link inverted pendulum by means of one or two
torques applied at ball joints is considered. This pendulum is an example of a nonlinear underactuated
mechanical system, i.e., a system in which the number of degrees of freedom exceeds the dimension
of the vector of the generalized controlling force. A three-link pendulum has eight different equilibrium positions, at which some links are directed upwards, and other are directed downwards. All equilibrium positions, except the lower position, are unstable. The pendulum controllability is examined
in the linear approximation in the neighborhood of these equilibrium positions for different options of
control: by means of external torques applied to some links, or by means of internal torques at ball
joints. In the cases of controllability, the control limited by module is constructed in the feedback form
to move the pendulum from the neighborhood of the given equilibrium position to the equilibrium
position over a finite time period. |
| Received |
29 June 2017 |
| Link to Fulltext |
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