Control of mechanical systems with constraints: two pendulums case study

M.S. Anayevskiy, A.L. Fradkov, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
1 Downloads (Pure)

Abstract

A method for control of mechanical systems under phase constraints, applicable to energy control of Hamiltonian systems is proposed. The constrained energy control problem for two pendulums by a single control action is studied both analytically and numerically. It is shown that for a proper choice of penalty parameter of the algorithm any energy level for the one pendulum under any specified constraint on the energy of the other pendulum can be achieved. Simulation results confirm fast convergence rate of the algorithm.
Original languageEnglish
Title of host publicationProceedings of the 17th IFAC World Congress (IFAC'08) July 11-16, 2008, Seoul, Korea
EditorsHyungsuck Cho
Place of PublicationSeoul
PublisherInternational Federation of Automatic Control
Pages7690-7694
ISBN (Print)978-1-1234-7890-2
Publication statusPublished - 2008
Event17th World Congress of the International Federation of Automatic Control (IFAC 2008 World Congress) - Seoul, Korea, Republic of
Duration: 6 Jun 200811 Jun 2008
Conference number: 17

Conference

Conference17th World Congress of the International Federation of Automatic Control (IFAC 2008 World Congress)
Abbreviated titleIFAC 2008
Country/TerritoryKorea, Republic of
CitySeoul
Period6/06/0811/06/08

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