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Singularity of optimal control in the problem of stabilizing a nonlinear inverted spherical pendulumстатья
- Авторы: Larisa Manita, Mariya Ronzhina
- Журнал: Journal of Physics: Conference Series
- Том: 1163
- Номер: 1
- Год издания: 2019
- Издательство: IOP Publishing
- Местоположение издательства: [Bristol, UK], England
- DOI: 10.1088/1742-6596/1163/1/012058
- Аннотация: We study an optimal control problem for a nonlinear spherical inverted pendulum on a movable base. As the cost functional, the mean-squared deviation of the pendulum from the upper equilibrium is considered, so optimal controls stabilize the pendulum at the unstable upper position. We show that the problem under consideration posses a singular point of the second order and there are spiral-similar solution which attains the singular point in finite time.
- Добавил в систему: Ронжина Мария Игоревна