Virtual nonholonomic constraints to damp the varying length pendulum swing

0549708 - ÚTIA 2022 RIV US eng C - Conference Paper (international conference)
Čelikovský, Sergej - Anderle, Milan - Vyhlídal, T.
Virtual nonholonomic constraints to damp the varying length pendulum swing.
Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021). Piscataway: IEEE, 2021, s. 3893-3900, č. článku 0433. ISBN 978-1-6654-3658-8.
[IEEE Conference on Decision and Control (CDC) 2021 /60./. Austin (US), 13.12.2021-15.12.2021]
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Nonlinear systems * Stability of nonlinear systems * Control applications
OECD category: Automation and control systems

The broadly studied long-existing problem of the varying length pendulum swing damping using the Coriolis force is approached here via the novel two-step approach. First, convenient virtual nonholonomic constraints on the swing angle, swing angular velocity and the string length ensuring the most efficient and realistic damping are designed. Then these constraints are enforced by the input being the force applied along the string length. Efficiency of enforcement and theoretical stability proof are facilitated using finite time stability feedback for the integrator chain. Besides careful theoretical analysis including proper mathematical proofs, our novel approach was tested both in simulations and using the laboratory model.
Permanent Link: http://hdl.handle.net/11104/0325727