Control of Oscillations and State Estimation of KAPITZA Pendulum
| Authors: | Odinets Nikolay, State University of Information Technologies, Mechanics and Optics, Russian Federation
Miroshnik Iliya, State University of Information Technologies, Mechanics and Optics, Russian Federation |
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| Topic: | 4.3 Robotics |
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| Session: | Positioning and Estimation |
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| Keywords: | robotics, nonlinear control, pendular systems, virtual energy, oscillation stabilization |
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Abstract
In this paper we introduce the concept of virtual energy of Kapitza pendulum and propose an energy-based approach to problem of stabilization of the given periodic motions around the upright position. The problem is reduced to control of the virtual energy and implies estimating the pendulum's slow motions provided by a nonlinear observer of the slow oscillations and virtual energy. New simulation results are represented.
