Control of two pendulums with energy constraints

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

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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 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA
Place of PublicationSt. Petersburg, Russia
PublisherInstitute for Problems of Mechanical Engineering
PagesCD-rom-6 p.
Publication statusPublished - 2008
Event6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008 - Saint Petersburg, Russian Federation
Duration: 30 Jun 20084 Jul 2008
Conference number: 6

Conference

Conference6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008
Country/TerritoryRussian Federation
CitySaint Petersburg
Period30/06/084/07/08

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