Virtual nonholonomic constraints to damp the varying length pendulum swing

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F21%3A00549708" target="_blank" >RIV/67985556:_____/21:00549708 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Virtual nonholonomic constraints to damp the varying length pendulum swing
Original language description
The broadly studied long-existing problem of the varying length pendulum swing damping using the Coriolis force is approached here via the novel two-step approach. First, convenient virtual nonholonomic constraints on the swing angle, swing angular velocity and the string length ensuring the most efficient and realistic damping are designed. Then these constraints are enforced by the input being the force applied along the string length. Efficiency of enforcement and theoretical stability proof are facilitated using finite time stability feedback for the integrator chain. Besides careful theoretical analysis including proper mathematical proofs, our novel approach was tested both in simulations and using the laboratory model.
Czech name
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Czech description
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Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021)
ISBN
978-1-6654-3658-8
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
3893-3900
Publisher name
IEEE
Place of publication
Piscataway
Event location
Austin
Event date
Dec 13, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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