Swinging control of two-pendulum system under energy constraints

M.S. Ananyevskiy, 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 publicationDynamics and control of hybrid dynamical systems
EditorsG. Leonov, H. Nijmeijer, A. Pogromsky, A. Fradkov
Place of PublicationSingapore
PublisherWorld Scientific
Pages167-179
ISBN (Print)978-981-4282-31-4
Publication statusPublished - 2009

Publication series

NameWorld scientific series on nonlinear science. Series B
Volume14

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