ON THE OPTIMAL STABILIZATION OF A DOUBLE MATHEMATICAL PENDULUM HAVING A MOVABLE SUSPENSION CENTER

S.G. Shahinyan; G.N. Kirakosyan

doi:10.46991/PYSU:A/2011.45.3.031

ON THE OPTIMAL STABILIZATION OF A DOUBLE MATHEMATICAL PENDULUM HAVING A MOVABLE SUSPENSION CENTER

Authors

S.G. Shahinyan Chair of Mechanics, YSU, Armenia
G.N. Kirakosyan Chair of Mechanics, YSU, Armenia

DOI:

https://doi.org/10.46991/PYSU:A/2011.45.3.031

Keywords:

driven double pendulum, optimal stabilization, equations of motion, Lagrange's equations, Lyapunov function, Lyapunov–Bellman method

Abstract

The problem of optimal stabilizatioin of a double pendulum, when its suspension center moved in the horizontal direction according to the given law, has been treated. The problem was reduced to the case of a linear nonuniform system that was solved in the event when the first and the second pendulums had equal masses and lengths. An optimal Lyapunov function and an optimal control action have been constructed.

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Published

2011-10-17

How to Cite

Shahinyan, S., & Kirakosyan, G. (2011). ON THE OPTIMAL STABILIZATION OF A DOUBLE MATHEMATICAL PENDULUM HAVING A MOVABLE SUSPENSION CENTER. Proceedings of the YSU A: Physical and Mathematical Sciences, 45(3 (226), 31–39. https://doi.org/10.46991/PYSU:A/2011.45.3.031