An OPCL Control for Chaotic Motion of a 3D Rigid Pendulum

摘要

This paper studies OPCL (open-plus-closed-loop) control problem for the chaotic motion of a 3D rigid pendulum.A 3D rigid pendulum consists of a rigid body supported by a fixed and frictionless pivot with three rotational degrees, acted on by a constant gravitational forces.In order to avoid the singular phenomenon of Euler’s angular velocity equation, quaternion kinematic equation is used to describe the 3D rigid pendulum, and we design an OPCL controller for chaotic motion of a 3D rigid pendulum at inverted equilibrium position. The OPCL controller contains two parts: the open-loop part to construct an ideal trajectory and the closed-loop part to calm the 3D rigid pendulum down.Simulation results show that this controller is feasible and effective.