Multi-Pendulum Synchronization Using Constrained Agreement Protocols
Rahul Chipalkatty, Magnus Egersted, Shun‐ichi Azuma · 2009
This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be solved simultaneously, namely a constrained optimal control problem for each pendulum