Dynamics of a Pendulum with Feedforward and Feedback Control (Special Issue on Nonlinear Dynamics)

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概要

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• We consider a pendulum subjected to feedforward and feedback control with periodic desired motions.The pendulum is assumed to be driven by a servo-motor with a small time constant.Here we concentrate on the case in which the desired motion is globally or locally asymptotically stable when its amplitude is zero.Using the averaging method and Melnikov's technique, we show that the desired motion becomes unstable at several bifurcations and chaotic motions occur for the nonzero amplitude case.Numerical simulations are also given and compared with the theoretical predictions for periodic and chaotic motions.

• 一般社団法人日本機械学会の論文
• 1998-09-15

著者

• Yagasaki Kazuyuki

  Department Of Mechanical And Systems Engineering Gifu University

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