Related papers: Swing-Up of a Weakly Actuated Double Pendulum via …
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
A study of the non linear modes of a two degree of freedom mechanical system with bilateral elastic stop is considered. The issue related to the non-smoothness of the impact force is handled through a regularization technique. In order to…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
We investigate the nonlinear effect of a pendulum with the upper end fixed to an elastic rod which is only allowed to vibrate horizontally. The pendulum will start rotating and trace a delicate stationary pattern when released without…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
We consider a prototypical nonlinear system which can be stabilized by multiplicative noise: an underdamped non-linear pendulum with a stochastically vibrating pivot. A numerical solution of the pertinent Fokker-Planck equation shows that…
We present the results of linear stability of a damped coplanar double pendulum and its non-linear motion, when the point of suspension is vibrated sinusoidally in the vertical direction with amplitude $a$ and frequency $\omega $. A double…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
In the present work, we analyzed theoretically and experimentally the nonlinear dynamics of a magnetic pendulum excited through the interactions of a strong neodymium magnet and two coils placed symmetrically around the zero angular…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
We explore analytically the quantum dynamics of a point mass pendulum using the Heisenberg equation of motion. Choosing as variables the mean position of the pendulum, a suitably defined generalised variance and a generalised skewness, we…
The stationary and highly non-stationary resonant dynamics of the harmonically forced pendulum are described in the framework of a semi-inverse procedure combined with the Limiting Phase Trajectory concept. This procedure, implying only…
We consider possibilities to control dynamics of solitons of two types, maintained by the combination of cubic attraction and spin-orbit coupling (SOC) in a two-component system, namely, semi-dipoles (SDs) and mixed modes (MMs), by making…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Frequency responses of multi-degree-of-freedom mechanical systems with weak forcing and damping can be studied as perturbations from their conservative limit. Specifically, recent results show how bifurcations near resonances can be…