naa a22 4500 51081008X CHVBK 20180411083438.0 cr unu---uuuuu 180411e20130901xx s 000 0 eng 10.1134/S1064230713040023 doi (NATIONALLICENCE)springer-10.1134/S1064230713040023 Anokhin N. Moscow Institute of Physics and Technology (State University), Institutsky per. 9, 141700, Dolgoprudny, Russia aut Bringing a multilink pendulum to the equilibrium position using a single control torque [Elektronische Daten] [N. Anokhin] The problem of controlling the multilink pendulum in the neighborhood of a given equilibrium position is considered. A feedback control bringing the pendulum to the equilibrium position in a finite time using a bounded torque applied to the first link is constructed. The proposed approach is based on stability theory of motion and uses the concept of the Lyapunov function that is common for two different stable systems of differential equations. The efficiency of the control is demonstrated by a computer simulation of the three-link pendulum dynamics. Pleiades Publishing, Ltd., 2013 Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/5(2013-09-01), 717-725 1064-2307 52:5<717 2013 52 11488 https://doi.org/10.1134/S1064230713040023 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1134/S1064230713040023 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Anokhin N. Moscow Institute of Physics and Technology (State University), Institutsky per. 9, 141700, Dolgoprudny, Russia aut NATIONALLICENCE 773 0- Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/5(2013-09-01), 717-725 1064-2307 52:5<717 2013 52 11488 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer