Circular Path Following for the Spherical Pendulum on a Cart. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Greco, Luca; Mason, Paolo; Maggiore, Manfredi
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 8268
• Page End: 8272
• Publication Date: 2017-07
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1398
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This 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.