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Controlling the variable length pendulum: Analysis and Lyapunov based design methods
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SYSNO ASEP 0553756 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Článek ve SCOPUS Title Controlling the variable length pendulum: Analysis and Lyapunov based design methods Author(s) Anderle, Milan (UTIA-B) RID, ORCID
Appeltans, P. (BE)
Čelikovský, Sergej (UTIA-B) RID, ORCID
Michiels, W. (BE)
Vyhlídal, T. (CZ)Number of authors 5 Source Title Journal of the Franklin Institute-Engineering and Applied Mathematics. - : Elsevier - ISSN 0016-0032
Roč. 359, č. 3 (2022), s. 1382-1406Number of pages 25 s. Publication form Online - E Language eng - English Country NL - Netherlands Keywords Flexible mechanical systems ; Lyapunov Methods ; Backstepping ; LaSalle principle ; Optimal control Subject RIV BC - Control Systems Theory OECD category Automation and control systems R&D Projects GA21-03689S GA ČR - Czech Science Foundation (CSF) Method of publishing Limited access Institutional support UTIA-B - RVO:67985556 EID SCOPUS 85122950030 DOI 10.1016/j.jfranklin.2021.11.026 Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2022 Electronic address https://www.sciencedirect.com/science/article/pii/S0016003221006918
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