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Phase-Plane Analysis of Anti-sway Controlling a Vertical Pendulum Transported Horizontally
New Phys.: Sae Mulli 2019; 69: 977~983
Published online September 30, 2019;
© 2019 New Physics: Sae Mulli.

Donghyeon GIM1, Seungil BANG1, Seung Kee HAN2*

1GSI, Anyang 14056, Korea
2Department of Physics Lab for Computational Physics, Chungbuk National University, Cheongju 28644, Korea
Correspondence to:
Received April 15, 2019; Revised July 30, 2019; Accepted August 19, 2019.
cc This is an open-access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
When a vertical pendulum is transported horizontally from one point to another, the vertical pendulum sways after reaching the target point. Anti-sway control, which prevents the swaying of the pendulum at the target point by controlling the horizontal movement, is very important for automated crane movement, robot arm operation, and so on. In this study, a phase-plane analysis was performed using linear pendulum model to determine the dynamics of horizontal motion required for anti-sway control. From this analysis we obtained two anti-sway control modes, the no sway cruise (NSC) mode and the sway cruise (SC) mode. We also observed that these two control modes could be applied to the anti-sway control of nonlinear vertical pendulum systems.
PACS numbers: 45.05.+x, 45.20.D-
Keywords: Vertical pendulum, Anti-sway control, Phase-plane analysis

September 2019, 69 (9)
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