The optimal control synthesis of the swinging and damping of a double pendulum

✍ Scribed by E.K. Lavrovskii; A.M. Formal'skii

• Publisher: Elsevier Science
• Year: 2001
• Tongue: English
• Weight: 560 KB
• Volume: 65
• Category: Article
• ISSN: 0021-8928
• DOI: 10.1016/s0021-8928(01)00025-9

✦ Synopsis

The problem of constructing a control, which maximizes or minimizes the deviation of the first (upper) section of a plane double pendulum in one or several half-cycles of oscillations is solved. The angle between the sections, which can be varied within specified limits, is considered as the control parameter. Both this angle and its derivative occur in the equations of motion of the system, which complicates the solution of the problem. It is possible, by replacement of the variables, to eliminate the derivative of the control from the equations. After this, the optimal control is constructed in the form of feedback. The results of numerical investigations are presented.