Cheng, Quanbao and Zhou, Lin and Li, Kai (2022) A Self-Stabilized Inverted Pendulum Made of Optically Responsive Liquid Crystal Elastomers. Frontiers in Robotics and AI, 8. ISSN 2296-9144
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Abstract
The inverted pendulum system has great potential for various engineering applications, and its stabilization is challenging because of its unstable characteristic. The well-known Kapitza’s pendulum adopts the parametrically excited oscillation to stabilize itself, which generally requires a complex controller. In this paper, self-sustained oscillation is utilized to stabilize an inverted pendulum, which is made of a V-shaped, optically responsive liquid crystal elastomer (LCE) bar under steady illumination. Based on the well-established dynamic LCE model, a theoretical model of the LCE inverted pendulum is formulated, and numerical calculations show that it always develops into the unstable static state or the self-stabilized oscillation state. The mechanism of the self-stabilized oscillation originates from the reversal of the gravity moment of the inverted pendulum accompanied with its own movement. The critical condition for triggering self-stabilized oscillation is fully investigated, and the effects of the system parameters on the stability of the inverted pendulum are explored. The self-stabilized inverted pendulum does not need an additional controller and offers new designs of self-stabilized inverted pendulum systems for potential applications in robotics, military industry, aerospace, and other fields.
Item Type: | Article |
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Subjects: | STM Library Press > Mathematical Science |
Depositing User: | Unnamed user with email support@stmlibrarypress.com |
Date Deposited: | 24 Jun 2023 06:24 |
Last Modified: | 18 May 2024 07:40 |
URI: | http://journal.scienceopenlibraries.com/id/eprint/1642 |