title: A Time-optimal Problem of Stopping a Two-link Pendulum on a Movable Mount
metadata.name: dc.contributor.author
metadata.value: Potapov, Anton Pavlovich
metadata.lang: -
metadata.name: dc.contributor.author
metadata.value: Galyaev, Andrey Alekseevich
metadata.lang: -
metadata.name: dc.date.accessioned
metadata.value: 2023-07-04T14:34:26Z
metadata.lang: -
metadata.name: dc.date.available
metadata.value: 2023-07-04T14:34:26Z
metadata.lang: -
metadata.name: dc.date.issued
metadata.value: 2023-06
metadata.lang: -
metadata.name: dc.identifier.other
metadata.value: https://doi.org/10.21638/11701/spbu35.2023.204
metadata.lang: -
metadata.name: dc.identifier.uri
metadata.value: http://hdl.handle.net/11701/41729
metadata.lang: -
metadata.name: dc.description.abstract
metadata.value: We consider a time-optimal problem of stopping a two-link pendulum on a movable mount. Given nonlinear system with the lack of and limitation on the control resource is linearized in the neighborhood of a stable equilibrium position. For a linearized system the Pontryagin maximum principle is used and the optimal control law obtained. To estimate parameters of the law basing on finding out an orthogonal subspace was an algorithm developed for constructing a time-optimal system control. A software module has been developed in the Matlab environment with the help of which a comparison of the dynamics of linear and nonlinear systems with the obtained control law was made.
metadata.lang: en_GB
metadata.name: dc.description.sponsorship
metadata.value: The work was carried out with the support of the program for the development
  of Youth scientic schools of the Institute of Control Sciences RAS 2022 - 2023.
metadata.lang: en_GB
metadata.name: dc.language.iso
metadata.value: ru
metadata.lang: en_GB
metadata.name: dc.publisher
metadata.value: St Petersburg State University
metadata.lang: en_GB
metadata.name: dc.relation.ispartofseries
metadata.value: Differential Equations and Control Processes;Issue 2
metadata.lang: -
metadata.name: dc.subject
metadata.value: Pontryagin maximum principle
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: time-optimal problem
metadata.lang: en_GB
metadata.name: dc.subject
metadata.value: two-link pendulum
metadata.lang: en_GB
metadata.name: dc.title
metadata.value: A Time-optimal Problem of Stopping a Two-link Pendulum on a Movable Mount
metadata.lang: en_GB
metadata.name: dc.type
metadata.value: Article
metadata.lang: en_GB
resources.filename: 54-85.pdf
resources.url: https://dspace.spbu.ru/bitstream/11701/41729/1/54-85.pdf
resources.format: Adobe PDF
resources.size: 912,72 kB