Аннотация:
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.
Ключевые слова:
balancing of an inverted pendulum, omnidirectional platform, hybrid genetic
algorithm, Poincarй equations in quasi-velocities.
This work was performed as part of the research project of the Udmurt Federal Research Center of the
Ural Branch of the Russian Academy of Sciences “Artificial Intelligence in the Development, Training,
and Support of Expert Systems for Presentation and Use of Knowledge in Natural, Engineering, and
Socio-Humanitarian Sciences” AAAA-A19-119092690104-4. The work of E.V.Vetchanin (Section 1) is
supported by the Russian Science Foundation (project no. 21-71-10039).
Поступила в редакцию: 18.11.2021 Принята в печать: 15.12.2021
Образец цитирования:
A. S. Shaura, V. A. Tenenev, E. V. Vetchanin, “The Problem of Balancing an Inverted Spherical
Pendulum on an Omniwheel Platform”, Rus. J. Nonlin. Dyn., 17:4 (2021), 507–525
\RBibitem{ShaTenVet21}
\by A. S. Shaura, V. A. Tenenev, E. V. Vetchanin
\paper The Problem of Balancing an Inverted Spherical
Pendulum on an Omniwheel Platform
\jour Rus. J. Nonlin. Dyn.
\yr 2021
\vol 17
\issue 4
\pages 507--525
\mathnet{http://mi.mathnet.ru/nd774}
\crossref{https://doi.org/10.20537/nd210411}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85123513907}
Цитирование в формате AMSBIB
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