1.
Shaura A. S., Tenenev V. A., Vetchanin E. V.
The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform
Russian Journal of Nonlinear Dynamics, 2021, vol. 17, no. 4, pp. 507-525
Abstract
pdf (501.49 Kb)
This paper addresses the problem of balancing an inverted pendulum on an omnidirectional
platform in a three-dimensional setting. Equations of motion of the platform – pendulum system
in quasi-velocities are constructed. To solve the problem of balancing the pendulum by controlling
the motion of the platform, a hybrid genetic algorithm is used. The behavior of the system is
investigated under different initial conditions taking into account a necessary stop of the platform
or the need for continuation of the motion at the end point of the trajectory. It is shown that
the solution of the problem in a two-dimensional setting is a particular case of three-dimensional
balancing.
| Keywords: |
balancing of an inverted pendulum, omnidirectional platform, hybrid genetic algorithm, Poincaré equations in quasi-velocities |
| Citation: |
Shaura A. S., Tenenev V. A., Vetchanin E. V., The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform, Russian Journal of Nonlinear Dynamics, 2021, vol. 17, no. 4, pp. 507-525 |
| DOI: |
10.20537/nd210411 |
| Full text: |
pdf
(501.49 Kb)
|
Journal Info
| Impact-factor RSCI (2022): |
0.259 (Q3) |
| ISSN (print): |
2658-5324 |
| ISSN (online): |
2658-5316 |
| Site: |
http://nd.ics.org.ru/ |
