Control of two pendulums with energy constraints

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

Control of two pendulums with energy constraints

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

Dynamics and Control

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA
Plaats van productie	St. Petersburg, Russia
Uitgeverij	Institute for Problems of Mechanical Engineering
Pagina's	CD-rom-6 p.
Status	Gepubliceerd - 2008
Evenement	6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008 - Saint Petersburg, Rusland Duur: 30 jun. 2008 → 4 jul. 2008 Congresnummer: 6

Congres

Congres	6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008
Land/Regio	Rusland
Stad	Saint Petersburg
Periode	30/06/08 → 4/07/08
Ander	6th EUROMECH Conference ENOC 2008

Citeer dit

@inproceedings{de291ba120f4458da6b37e34c7978fec,

title = "Control of two pendulums with energy constraints",

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.",

author = "M.S. Anayevskiy and A.L. Fradkov and H. Nijmeijer",

year = "2008",

language = "English",

pages = "CD--rom--6 p.",

booktitle = "Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA",

publisher = "Institute for Problems of Mechanical Engineering",

note = "6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008 ; Conference date: 30-06-2008 Through 04-07-2008",

}

Anayevskiy, MS, Fradkov, AL & Nijmeijer, H 2008, Control of two pendulums with energy constraints. in Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA. Institute for Problems of Mechanical Engineering, St. Petersburg, Russia, blz. CD-rom-6 p., 6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008, Saint Petersburg, Rusland, 30/06/08.

Control of two pendulums with energy constraints. / Anayevskiy, M.S.; Fradkov, A.L.; Nijmeijer, H.
Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA. St. Petersburg, Russia: Institute for Problems of Mechanical Engineering, 2008. blz. CD-rom-6 p.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

TY - GEN

T1 - Control of two pendulums with energy constraints

AU - Anayevskiy, M.S.

AU - Fradkov, A.L.

AU - Nijmeijer, H.

N1 - Conference code: 6

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

M3 - Conference contribution

SP - CD-rom-6 p.

BT - Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC'08) June 30 - July 4, 2008, Saint Petersburg, RUSSIA

PB - Institute for Problems of Mechanical Engineering

CY - St. Petersburg, Russia

T2 - 6th EUROMECH Nonlinear Dynamics Conference, ENOC 2008

Y2 - 30 June 2008 through 4 July 2008

ER -

Control of two pendulums with energy constraints

Samenvatting

Congres

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