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Virtual nonholonomic constraints to damp the varying length pendulum swing
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SYSNO ASEP 0549708 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Virtual nonholonomic constraints to damp the varying length pendulum swing Author(s) Čelikovský, Sergej (UTIA-B) RID, ORCID
Anderle, Milan (UTIA-B) RID, ORCID
Vyhlídal, T. (CZ)Number of authors 3 Article number 0433 Source Title Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021). - Piscataway : IEEE, 2021 - ISBN 978-1-6654-3658-8 Pages s. 3893-3900 Number of pages 8 s. Publication form Print - P Action IEEE Conference on Decision and Control (CDC) 2021 /60./ Event date 13.12.2021 - 15.12.2021 VEvent location Austin Country US - United States Event type WRD Language eng - English Country US - United States Keywords Nonlinear systems ; Stability of nonlinear systems ; Control applications Subject RIV BC - Control Systems Theory OECD category Automation and control systems R&D Projects GA21-03689S GA ČR - Czech Science Foundation (CSF) Institutional support UTIA-B - RVO:67985556 Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2022
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