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Time-Optimal Control of a Simple Pendulum with a Movable Pivot. Part 1

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International Applied Mechanics Aims and scope

A modification of control constraints in optimal control problems for a simple pendulum with a movable pivot is substantiated. The problem of time optimal control of the motion of a simple pendulum for the classical and modified constraints is formulated. By analytically integrating the system of equations of motion, the optimization problem is reduced to a nonlinear programming problem with constraints. This problem is solved numerically with the particle swarm method. The proposed method of solving time optimal control problems is generalized to mathematical models that can be integrated analytically.

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Authors and Affiliations

  1. National University of Life and Environmental Sciences of Ukraine, 12v Geroev Oborony St., Kyiv, Ukraine

    V. S. Loveikin, Yu. A. Romasevich & A. G. Shevchuk

  2. S. P. Timoshenko Institute of Mechanics, Ukrainian National Academy of Sciences, 3 Nesterova St., Kyiv, 03057, Ukraine

    A. S. Khoroshun

Authors
  1. V. S. Loveikin
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  2. Yu. A. Romasevich
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  3. A. S. Khoroshun
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  4. A. G. Shevchuk
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Corresponding authors

Correspondence to Yu. A. Romasevich or A. S. Khoroshun.

Additional information

Translated from Prikladnaya Mekhanika, Vol. 54, No. 3, pp. 127–115, May–June, 2018.

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Loveikin, V.S., Romasevich, Y.A., Khoroshun, A.S. et al. Time-Optimal Control of a Simple Pendulum with a Movable Pivot. Part 1. Int Appl Mech 54, 358–365 (2018). https://doi.org/10.1007/s10778-018-0887-x

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  • DOI: https://doi.org/10.1007/s10778-018-0887-x

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