文章基本信息

标题：Circular Path Following for the Spherical Pendulum on a Cart
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作者：Luca Greco ; Paolo Mason ; Manfredi Maggiore 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：8268-8272
DOI：10.1016/j.ifacol.2017.08.1398
语种：English
出版社：Elsevier
摘要：AbstractThis paper investigates the problem of making the cart of a spherical pendulum follow a circular path with constant speed, while guaranteeing that the pendulum does not fall over. A solution methodology is presented which is hierarchical in nature. First, one of the two control inputs is used to stabilize the angle of the pendulum from the vertical axis at a constant value. The remaining control input is used to make the cart converge to the circular path with a desired speed.