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    The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform


    2021, Vol. 17, no. 4, pp.  507-525

    Author(s): Shaura A. S., Tenenev V. A., Vetchanin E. V.

    This paper addresses the problem of balancing an inverted pendulum on an omnidirectional platform in a three-dimensional setting. Equations of motion of the platform – pendulum system in quasi-velocities are constructed. To solve the problem of balancing the pendulum by controlling the motion of the platform, a hybrid genetic algorithm is used. The behavior of the system is investigated under different initial conditions taking into account a necessary stop of the platform or the need for continuation of the motion at the end point of the trajectory. It is shown that the solution of the problem in a two-dimensional setting is a particular case of three-dimensional balancing.
    Keywords: balancing of an inverted pendulum, omnidirectional platform, hybrid genetic algorithm, Poincaré equations in quasi-velocities
    Citation: Shaura A. S., Tenenev V. A., Vetchanin E. V., The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform, Rus. J. Nonlin. Dyn., 2021, Vol. 17, no. 4, pp.  507-525
    DOI:10.20537/nd210411


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