Synthesis of Time-Optimal Control of Inverted Rodстатья
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Дата последнего поиска статьи во внешних источниках: 26 сентября 2016 г.
Аннотация:The problem of controlling a system consisting of a heavy rod fastened at its lower end on a hinge to a movable support is studied. In the linear statement and under the assumption that the support moves without inertia at a bounded velocity, a time-optimal motion of the rod from an arbitrary initial state with a nonzero velocity to a vertical unstable equilibrium position with the zero velocity of the rod at this position is found assuming that the point of support must travel a prescribed distance. The domain where a solution exists is found. Formulas for determining the switch times of the support velocity depending on the boundary conditions are obtained. A numerical example illustrating the procedure of choosing the control depending on the initial position of the rod in the absence of disturbances is considered.
DOI: 10.1134/S1064230711060074