0549708 20250123085839.520211215235959.9 85126007885 000781990303074 10.1109/CDC45484.2021.9683262 8 s. P cav_un_epca*0549707978-1-6654-3658-83893-3900PiscatawayIEEE2021 Nonlinear systems Stability of nonlinear systems Control applications cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0240742 Vyhlídal T. CZ konferenční příspěvek 1,57 MB GA21-03689S GA ČR CZ cav_un_auth*0410139 The broadly studied long-existing problem of the varying length pendulum swing damping using the Coriolis force is approached here via the novel two-step approach. First, convenient virtual nonholonomic constraints on the swing angle, swing angular velocity and the string length ensuring the most efficient and realistic damping are designed. Then these constraints are enforced by the input being the force applied along the string length. Efficiency of enforcement and theoretical stability proof are facilitated using finite time stability feedback for the integrator chain. Besides careful theoretical analysis including proper mathematical proofs, our novel approach was tested both in simulations and using the laboratory model. cav_un_auth*0419406 IEEE Conference on Decision and Control (CDC) 2021 /60./ 20211213 20211215 Austin US BC 20000 20200 20205 2022 3 4 A sml 4as 20231122150207.7 PR RVO:67985556 http://hdl.handle.net/11104/0325727 cav_un_auth*0377699 Department of Instrumentation and Control Engineering, Faculty of Mechanical Engineering, and Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague CTU CIIRC, Prague CZ S IEEE COPYRIGHT AND CONSENT FORM 20210921 0433 2021 Soubory v repozitáři: celikovsky-0549708-CopyrightReceipt--0433.pdf 85126007885 SCOPUS PUBMED 000781990303074 WOS konferenční příspěvek 1,57 MB cav_un_epca*0549707 Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021) IEEE 2021 Piscataway 3893 3900 978-1-6654-3658-8