Quadruple inverted pendulum stabilization based on transformation to a normal form after prolongation
Authors: Artsibasov A.V., Fetisov D.A.
Published in issue: #11(155)/2024
DOI: 10.18698/2308-6033-2024-11-2397
Category: Mechanics | Chapter: Theoretical Mchanics, Machine Dynamics
Mechanical system control under deficiency of the control parameters appears to be a complex problem, as any unified approaches are missing. A possible approach to solving this problem lies in transforming the dynamic system that describes the mechanism motion in the Isidori normal form. This paper shows how transformation in this form allows solving the stabilization problem for a quadruple inverted pendulum. It is assumed that torques in the hinges connecting the adjacent links are considered as the control actions. Based on the idea proposed in work by C. Chevallereau, J. Grizzle and C. Moog, the paper indicates that stabilization problem of the pendulum unstable equilibrium position could be solved by transformation to the normal form after preliminary prolongation of two of the three controls in the system. The paper presents results of numerical simulation to confirm the proposed approach serviceability.
EDN FNNPHS
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