A Flywheel to stabilize a Two-Link Pendulum

Authors:	Aoustin Yannick, Ecole Centrale de Nantes, France Formal'sky Alexander, Moscow Lomonosov State University, Russian Federation Martynenko Yuri, Moscow Lomonosov State University, Russian Federation
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Stability and Structural Analysis
Keywords:	inverted pendulum, flywheel, stabilization, limited control.

Abstract

Control laws are designed to stabilize three unstable equilibriumsof a planar double link pendulum. A flywheel, actuated by anelectrical drive equips the first link. The control signal -voltage is applied to this drive. The limits imposed on thevoltage are explicitly taken into account. Our under actuatedsystem is controllable. The number of unstable modes, one or two,depends on the considered unstable state. The control laws aredesigned to suppress the unstable modes using the linear models ofthe motion near each unstable state. The numerical investigationsof the nonlinear model with the designed nonlinear control lawsare presented.