期刊
NONLINEAR DYNAMICS
卷 82, 期 1-2, 页码 677-688出版社
SPRINGER
DOI: 10.1007/s11071-015-2186-y
关键词
Elastic inverted pendulum; Hysteretic control; Stabilization problem; Bionic algorithm
资金
- RFBR [13-08-00532-a]
In this paper, we investigate the elastic inverted pendulum with hysteretic nonlinearity (a backlash) in the suspension point. Namely, the problems of stabilization and optimization of such a system are considered. The algorithm (based on the bionic model) which provides the effective procedure for finding of optimal parameters is presented and applied to considered system. The results of numerical simulations, namely the phase portraits and the dynamics of Lyapunov function, are also presented and discussed.
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