Title :
Stabilizing control for a single pendulum by moving the center of gravity. An investigation by numerical experiment
Author :
Yoshida, Kazunobu ; Kawabe, Hisashi ; Kawanishi, Kouji
Author_Institution :
Fac. of Eng., Hiroshima Inst. of Technol., Japan
Abstract :
For a single pendulum having controllable rod length, a variable structure system, a stabilizing control law that damps the swing has been developed using Lyapunov´s method. In deriving the law, the nonlinearities of the system are considered outright. The control system has a structure where the rod length is changed according to θ and θ˙ (θ represents the rod angle) and uses the Coriolis force favorably
Keywords :
Coriolis force; Lyapunov methods; control nonlinearities; motion control; stability; variable structure systems; Coriolis force; Lyapunov´s method; center of gravity; controllable rod length; nonlinearities; numerical experiment; single pendulum; stabilizing control; variable structure system; Control nonlinearities; Control systems; Control theory; Design methodology; Differential equations; Force control; Gravity; Lyapunov method; Nonlinear control systems; Variable structure systems;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574631
