Controlling the variable length pendulum: Analysis and Lyapunov based design methods

0553756 - ÚTIA 2022 RIV NL eng J - Journal Article
Anderle, Milan - Appeltans, P. - Čelikovský, Sergej - Michiels, W. - Vyhlídal, T.
Controlling the variable length pendulum: Analysis and Lyapunov based design methods.
Journal of the Franklin Institute-Engineering and Applied Mathematics. Roč. 359, č. 3 (2022), s. 1382-1406. ISSN 0016-0032. E-ISSN 1879-2693
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Flexible mechanical systems * Lyapunov Methods * Backstepping * LaSalle principle * Optimal control
OECD category: Automation and control systems
Impact factor: 4.1, year: 2022
Method of publishing: Limited access
https://www.sciencedirect.com/science/article/pii/S0016003221006918

The analysis and design of methods to damp the swing of the variable length pendulum by adjusting its length are presented here. To analyze the theoretical limits of such Coriolis force based damping, a comprehensive open-loop numerical analysis is performed for a two-dimensional model having the string length as the controlled input. Further, for a four dimensional model, having the force applied to the string as the controlled input, a smooth static state feedback controller is designed using backstepping. Results are verified both in simulations and through extensive laboratory experiments, and compared with previously published results achievable using an identical experimental setting.
Permanent Link: http://hdl.handle.net/11104/0328732