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2013
Impact Factor

    Oleg Kiselev

    ul. Chernyshevskogo 112, Ufa, 450008 Russia
    ok@ufanet.ru
    Institute of Mathematics with Computing Centre

    Publications:

    Kiselev O. M.
    Abstract
    The dynamics of an inverted wheeled pendulum controlled by a proportional plus integral plus derivative action controller in various cases is investigated. The properties of trajectories are studied for a pendulum stabilized on a horizontal line, an inclined straight line and on a soft horizontal line. Oscillation regions on phase portraits of dynamical systems are shown. In particular, an analysis is made of the stabilization of the pendulum on a soft surface, modeled by a differential inclusion. It is shown that there exist trajectories tending to a semistable equilibrium position in the adopted mathematical model. However, in numerical simulations, as well as in the case of real robotic devices, such trajectories turn into a limit cycle due to round-off errors and perturbations not taken into account in the model.
    Keywords: pendulum, control, stability, differential inclusion
    Citation: Kiselev O. M.,  Control of an Inverted Wheeled Pendulum on a Soft Surface, Rus. J. Nonlin. Dyn., 2020, Vol. 16, no. 3, pp.  421-436
    DOI:10.20537/nd200302
    Kiselev O. M.
    Abstract
    We study the asymptotic behavior of nonlinear oscillators under an external driver with slowly changing frequency and amplitude. As a result, we obtain formulas for properties of the amplitude and frequency of the driver when the autoresonant behavior of the nonlinear oscillator is observed. Also, we find the measure of autoresonant asymptotic behaviors for such a driven nonlinear oscillator.
    Keywords: nonlinear oscillator, autoresonance, perturbations
    Citation: Kiselev O. M.,  Conditions for Phase Locking and Dephasing of Autoresonant Pumping, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 3, pp.  381-394
    DOI:10.20537/nd190314
    Kiselev O. M.
    Stable Feedback Control of a Fast Wheeled Robot
    2018, Vol. 14, no. 3, pp.  409-417
    Abstract
    We obtain criteria for the stability of fast straight-line motion of a wheeled robot using proportional or proportional derivative feedback control. The motion of fast robots with discrete feedback control is defined by the discrete dynamical system. The stability criteria are obtained for the discrete system for proportional and proportional-derivative feedback control.
    Keywords: feedback control, stability, robotics
    Citation: Kiselev O. M.,  Stable Feedback Control of a Fast Wheeled Robot, Rus. J. Nonlin. Dyn., 2018, Vol. 14, no. 3, pp.  409-417
    DOI:10.20537/nd180310

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