Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interest
Swing-up control strategies for a reaction wheel pendulum
β Scribed by Srinivas, K.N.; Behera, Laxmidhar
- Book ID
- 126994730
- Publisher
- Taylor and Francis Group
- Year
- 2008
- Tongue
- English
- Weight
- 689 KB
- Volume
- 39
- Category
- Article
- ISSN
- 0020-7721
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π SIMILAR VOLUMES
Since the governing equation of a pendulum is nonlinear, the analytical control law is difficult to obtain. In this paper, we use a manual control method to obtain the control law for swinging up of the pendulum. In the manual control method, the operator is required to control the target system ski
A new algorithm ensuring global attractivity of the upright (unstable) equilibrium of a pendulum, based on the variable structure system-version of the energy-speed-gradient method, is proposed. It is shown that global attractivity cannot be obtained with continuous static state feedback. A detailed