On the construction of a control over the pendulum movement by the rotation of an inertial flywheel
DOI:
https://doi.org/10.15407/dopovidi2018.04.041Keywords:
equilibrium position, global asymptotic stability, inertial flywheel, underactuated mechanical systemAbstract
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.
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