An OPCL Control for Chaotic Motion of a 3D Rigid Pendulum
This paper studies OPCL (open-plus-closed-loop) control problem for the chaotic motion of a 3D rigid pendulum.A 3D rigid pendulum consists of a rigid body supported by a fixed and frictionless pivot with three rotational degrees, acted on by a constant gravitational forces.In order to avoid the singular phenomenon of Euler’s angular velocity equation, quaternion kinematic equation is used to describe the 3D rigid pendulum, and we design an OPCL controller for chaotic motion of a 3D rigid pendulum at inverted equilibrium position.The OPCL controller contains two parts: the open-loop part to construct an ideal trajectory and the closed-loop part to calm the 3D rigid pendulum down.Simulation results show that this controller is feasible and effective.
3D Rigid Pendulum Quaternion Chaotic Motion Poincare Section OPCL Control
Zou Kui Ge Xinsheng
Automation SchoolBeijing Information Science & Technology UniversityBeijing,100192,China Mechanical and Electrical Engineering School Beijing Information Science & Technology University Bei
国际会议
上海
英文
1-6
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）