On the construction of a control over the pendulum movement by the rotation of an inertial flywheel

1Khoroshun, AS
1S.P. Timoshenko Institute of Mechanics of the NAS of Ukraine, Kyiv
Dopov. Nac. akad. nauk Ukr. 2018, 4:41-46
https://doi.org/10.15407/dopovidi2018.04.041
Section: Mechanics
Language: Russian
Abstract: 

An example of the underactuated mechanical system, which is a pendulum, whose motion is controlled by the ro tation of a flywheel, is investigated. The explicit form of the control law of the flywheel rotation, which ensures the stabilization of the upper equilibrium position of the pendulum, is obtained.

Keywords: equilibrium position, global asymptotic stability, inertial flywheel, underactuated mechanical system
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