On properties of optimal controls for an inverted spherical pendulum
Optimization and Control
2019-09-12 v1
Abstract
In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find solutions stabilizing the pendulum in a finite time, wherein the corresponding optimal controls perform an infinite number of rotations along the circle .
Keywords
Cite
@article{arxiv.1909.04708,
title = {On properties of optimal controls for an inverted spherical pendulum},
author = {Larisa Manita and Mariya Ronzhina},
journal= {arXiv preprint arXiv:1909.04708},
year = {2019}
}
Comments
18 pages, 2 figures