0553756 20250313101523.420220215235959.9 85122950030 000801856900013 10.1016/j.jfranklin.2021.11.026 25 s. E cav_un_epca*02537790016-00323593 (2022)1382-1406Elsevier Flexible mechanical systems Lyapunov Methods Backstepping LaSalle principle Optimal control 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*0424937 Appeltans P. BE cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory K Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0377695 Michiels W. BE cav_un_auth*0240742 Vyhlídal T. CZ článek v odborném periodiku 3,15 MB https://www.sciencedirect.com/science/article/pii/S0016003221006918 GA21-03689S GA ČR CZ cav_un_auth*0410139 The analysis and design of methods to damp the swing of the variable length pendulum by adjusting its length are presented here. To analyze the theoretical limits of such Coriolis force based damping, a comprehensive open-loop numerical analysis is performed for a two-dimensional model having the string length as the controlled input. Further, for a four dimensional model, having the force applied to the string as the controlled input, a smooth static state feedback controller is designed using backstepping. Results are verified both in simulations and through extensive laboratory experiments, and compared with previously published results achievable using an identical experimental setting. SCOPUS BC 20000 20200 20205 2022 5 4 2 A R sml hod 4as 2rh 20231122150359.0 20250310143819.1 20250310145914.3 RVO:67985556 http://hdl.handle.net/11104/0328732 cav_un_auth*0392146 Department of Instrumentation and Control Engineering, and Center of Advanced Aerospace Technology, Faculty of Mechanical Engineering, Czech Technical University in Prague CZ cav_un_auth*0377698 Department of Computer Science, KU Leuven, Celestijnenlaan 200A, 3001 Heverlee, Belgium. DCS, KU Leuven BE S Publishing Agreement 20211207 C ENGINEERING.ELECTRICAL&ELECTRONIC|ENGINEERING.MULTIDISCIPLINARY|AUTOMATION&CONTROLSYSTEMS|MATHEMATICS.INTERDISCIPLINARYAPPLICATIONS 3.8 1 4.1 0.01883 0.842 14952 1.159 3.500 479 Q1 71.2 Q2 Q1 1.16 Q1 86.4 2022 Soubory v repozitáři: anderle-553756.pdf, celikovsky-0553756-Copyright Controlling the Variable Length.pdf 85122950030 SCOPUS PUBMED 000801856900013 WOS článek v odborném periodiku 3,15 MB cav_un_epca*0253779 Journal of the Franklin Institute-Engineering and Applied Mathematics Roč. 359 č. 3 2022 1382 1406 0016-0032 1879-2693 Elsevier