Equilibria and stability of an n-pendulum forced by rapid oscillations

Author

Weibel, S. ; Baillieul, J. ; Lehman, B.

Author_Institution

Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA

Volume

2

fYear

1997

fDate

10-12 Dec 1997

Firstpage

1147

Abstract

Recent efforts have focused on developing a theory of open-loop control for a class of velocity-controlled superarticulated mechanical systems by high-frequency periodic forcing. From this work, the averaged potential has emerged as the primary tool in equilibrium and stability analysis. In this paper, we present a study of the equilibria and stability of a periodically-forced cart and n-pendulum on an inclined plane. We present an exact model for the n-degree-of-freedom system, nondimensionalize the model, and compute the averaged potential. Equilibria and their stability are found through a critical point analysis of the averaged potential. The results for the n-DOF system are numerically verified for the vertically forced cart and double pendulum

Keywords

bifurcation; feedforward; motion control; nonlinear systems; pendulums; robust control; bifurcation; cart pendulum system; critical point analysis; equilibrium; nonlinear systems; rapid oscillations; stability; stabilization; superarticulated mechanical systems; Aerodynamics; Control systems; Force control; Frequency; Mechanical systems; Nonlinear control systems; Nonlinear systems; Open loop systems; Stability analysis; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657602

Filename

657602