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Stabilization of a 3-Link Pendulum in Vertical Position

机译：稳定垂直位置的3连杆摆

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摘要

The aim of the paper is to verify the linearizabilty conditions for the triple inverted pendulum driven by 2 inputs, and stabilize it in the upright position. Moreover, the zero dynamics is derived and illustrated graphically.

机译：本文的目的是验证由2个输入驱动的三重倒立摆的线性条件，并将其稳定在直立位置。此外，零动态被图示和说明。

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来源
《Polish Control Conference》|2020年|xviii 833 pages :|共12页
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作者
Krzysztof Koz?owski; Dariusz Pazderski; Pawe? Parulski; Patryk Bartkowiak;
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原文格式 PDF
正文语种
中图分类 TP273-532;
关键词
Nonlinear dynamics; Control theory; 3-link pendulum; Linearization; Zero dynamic;

机译：非线性动力学;控制理论;3连杆摆锤;线性化;零动态;

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专利

1. The pendulum sensor of the local vertical with the polarized measurer of the pendulum position [J] . A. A. Kurlayev, S. P. Terekhov, A. V. Faltzman, Измерительная техниκа . 1998,第1期

机译：本地垂直的摆锤传感器与摆锤位置的极化测量器
2. The pendulum sensor of the local vertical with the polarized measurer of the pendulum position [J] . A. A. Kurlayev, S. P. Terekhov, A. V. Faltzman, Измерительная техниκа . 1998,第1期

机译：局部垂直的摆动传感器与摆锤位置的偏振测量器
3. Applied Mathematics Stabilization of Vertically Modulated Pendulum with Parametric Periodic Forces [J] . Babar Ahmad, Sidra Khan Sukkur IBA Journal of Computing and Mathematical Sciences . 2018,第2期

机译：具有参数周期力的垂直调制摆的应用数学稳定
4. Stabilization of a 3-Link Pendulum in Vertical Position [C] . Krzysztof Koz?owski, Dariusz Pazderski, Pawe? Parulski, Polish Control Conference . 2020

机译：稳定垂直位置的3连杆摆
5. Influence of Vertical Ground Motion on Bridges Isolated with Friction Pendulum Bearings [D] . Mojidra, Rushil. 2019

机译：垂直地面运动对桥梁隔离的摩擦摆轴承的影响
6. The vertical–horizontal debates: time for the pendulum to rest (in peace)? [O] . Mukund Uplekar, Mario C Raviglione 2007

机译：垂直-水平辩论：摆锤安息的时间（和平）？
7. Applied Mathematics Stabilization of Vertically Modulated Pendulum with Parametric Periodic Forces [O] . 2018

机译：用参数周期力应用垂直调制摆的数学稳定

Stabilization of a 3-Link Pendulum in Vertical Position

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