Open-plus-closed-loop control for chaotic motion of 3D rigid pendulum  

作　　者：戈新生 邹奎 

机构地区：[1]School of Mechanical and Electrical Engineering, Beijing Information Science & Technology University [2]School of Automation, Beijing Information Science & Technology University

出　　处：《Applied Mathematics and Mechanics(English Edition)》2014年第4期403-412,共10页应用数学和力学（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.11072038);the Municipal Key Programs of Natural Science Foundation of Beijing(No.KZ201110772039)

摘　　要：An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.

关 键 词：3D rigid pendulum QUATERNION chaotic motion Poincar section open-plus-closed-loop （OPCL） control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]