3D Pendulum UM 02 04 05

Dynamics and Control of a 3D
Pendulum
N. Harris McClamroch
Department of Aerospace Engineering

University of Michigan
4th February, 2005
Acknowledgements:
Dennis Bernstein
Sangbum Cho, Jinglai Shen, Amit Sanyal, Nalin A. Chaturvedi,

Fabio Bacconi, Mario Santillo, Taeyoung Lee
National Science Foundation

Outline of the Presentation
l Background: planar and spherical pendula, Lagrange top
l What is a 3D pendulum?
l 3D pendulum models
l Axially symmetric 3D pendulum
l Free dynamics of 3D axially symmetric pendulum
l Asymptotic stabilization of 3D axially symmetric pendulum
l Asymmetric 3D Pendulum
l Free dynamics of 3D asymmetric pendulum
l Asymptotic stabilization of 3D asymmetric pendulum
l Computational issues for 3D pendulum

l Some experimental results for the 3D pendulum
l Concluding remarks
Planar Pendulum
l One degree of freedom
l Global configuration space is S1
l Global phase space is S1 x R
l Total energy is conserved

Spherical Pendulum
l Two degrees of freedom
l Global phase space is S2 R2
l Angular momentum component

about the vertical is conserved
Lagrange Top
l 2 degrees of freedom
l Global phase space is S2 R2
l Angular momentum component about

the vertical is conserved
What is a 3D Pendulum?
l Rigid body supported by a fixed,
frictionless pivot
l Three degrees of rotational

freedom
l Gravitational forces; disturbance

and control forces or moments
l Uniform constant gravity
l Generalization of the planar

pendulum, the spherical pendulum
and the Lagrange top
Motivation for Study of
3D Pendulum
l 3D pendulum models are proposed as benchmarks for studying
nonlinear dynamics
l 3D pendulum models are proposed as benchmarks for studying

nonlinear control (nonlinear stabilization)
l Pendulum models are representative of attitude systems in many

engineering applications, e.g. spacecraft in gravitational field and
robot systems
l Many interesting control problems for pendulum models in the

published literature
l Astrom and Furuta, Automatica,1996
l Egeland, et al, 1999, 2004
l Furuta, CDC 2003
Motivation
l 3D pendulum may exhibit coupling between all three degrees of

freedom
l Does the 3D pendulum exhibit any new nonlinear dynamics that

have not been previously investigated?
l Does the 3D pendulum present any new nonlinear control design

issues that have not been previously investigated?
Triaxial Attitude Control Testbed
l University of Michigan
Experimental Facility: Triaxial
Attitude Control Testbed (TACT)
l Experimental testbed for attitude
dynamics and control problems
l TACT papers (McClamroch,
Bernstein)
l TACT is a physical
implementation of the 3D
pendulum
l Used for experimental validation
of theoretical results
Equations for 3D Pendulum
l Euler-Poisson equations
l Evolution on SO(3) x R3
l Global attitude representation
Reduced Equations for 3D Pendulum
l Define G = RT e3 ; then
Jw = Jw w + mgr G
G = G w
l G is direction of gravity in body frame
l G always has unity norm

l Reduced Euler-Poisson equations
l Evolution on S2 x R3
l Global reduced attitude representation
Axially Symmetric 3D Pendulum
l Assumptions
l 3D pendulum has a single axis of mass symmetry
l Body fixed axes are principal axes so that

J = diag(Jt, Jt, Ja )
l The pivot point and the center of mass lie on the axis of
symmetry so that
r = (0, 0, rs) where rs > 0
Uncontrolled Axially Symmetric
3D Pendulum
Thus
l Dynamics of axially symmetric 3D pendulum evolve

on S2 x R2
Uncontrolled Axially Symmetric
3D Pendulum
1 T
l Total energy w Jw - mgr T G is conserved
2
l Angular momentum component about the vertical axis

w T JG is conserved
l Terminology
l If c=0, the 3D pendulum is identical to the spherical pendulum

although the described global model is different from prior
models in the published literature
l If c0, the 3D pendulum is identical to the Lagrange top

Equilibria of Uncontrolled Axially
Symmetric 3D Pendulum
l The reduced equilibria of the axially symmetric 3D pendulum are
l If c = 0, the spherical pendulum has two distinct equilibria
l If c 0, the Lagrange top has two distinct relative equilibria

Stability of Uncontrolled Dynamics of
Axially Symmetric 3D Pendulum
l Local stability of the axially symmetric 3D pendulum on S2 x R2
l Well known stability results are as follows:

l The hanging reduced equilibrium of the spherical pendulum is always
locally stable
l The inverted reduced equilibrium of the spherical pendulum is always
locally unstable
l The hanging reduced equilibrium of the Lagrange top is always locally
stable
l The inverted reduced equilibrium of the Lagrange top is stable if and
only if
2 mgr s J t
c
Ja

Simulation of Uncontrolled Dynamics
of Lagrange Top
l Small perturbations
from hanging
equilibrium
l Nonlinear oscillations
l Chaotic solutions are

not possible
Simulation of Uncontrolled Dynamics
of Lagrange Top
l Small
perturbations
from the inverted
equilibrium
l Nonlinear
oscillations
l Chaotic solutions
are not possible
Asymptotic Stabilization of Axially
l Controlled axially symmetric 3D pendulum
G x = Gy c - Gzw y
J t w x = c(J t - J a )w y - mgr sGy + u x
G y = Gzw x - Gx c
J t w y = c(J a - J t )w x + mgr sGx + u y
G z = Gx w y - Gy w x
l Use feedback to asymptotically stabilize a reduced equilibrium of the
axially symmetric 3D pendulum

l Angular velocity feedback
u : R2 R2
l Angular velocity and reduced attitude feedback

u : S 2 R2 R2

Existence of Smooth Stabilizing
Controllers for Axially Symmetric
3D Pendulum
l Global asymptotic stabilization of a reduced attitude
equilibrium of the axially symmetric 3D pendulum is not
possible using any continuous feedback
l Reason: there is a topological impediment due to the
fact that the configuration space S2 is compact
l What are possible closed loop domains of attraction?

l The domain of attraction may be all of S2 x R2 except
for a set of Lebesgue measure zero; this is referred to
as almost global asymptotic stabilization
Asymptotic Stabilization of Axially
l Asymptotic stabilization of the Lagrange top

l The hanging reduced equilibrium
l The inverted reduced equilibrium
l Some other reduced equilibrium
l Asymptotic stabilization of the spherical pendulum

l The hanging reduced equilibrium
l The inverted reduced equilibrium
l Some other reduced equilibrium
Asymptotic Stabilization of Hanging
Equilibrium of Lagrange Top:
Angular Velocity Feedback
Assume c 0. Consider the controller with
feedback of angular velocity
u x = -k x w x
u y = -k y w y
where kx > 0, ky > 0 .

Theorem: The hanging equilibrium (Gh,0) is
asymptotically stable equilibrium of the closed loop
with a dense domain of attraction (S2 x R2 ) \ M.
Equilibrium of Lagrange Top
l Controller arises from control Liapunov

function V : S 2 R 2 R
l Controller is globally defined

l Angular velocity feedback only
l Obtain a nearly global domain of attraction of

the hanging equilibrium; must exclude the
stable manifold of the inverted equilibrium
Simulation Results
Simulation Results
Simulation Results
Equilibrium of Lagrange Top: Angular
Velocity and Reduced Attitude Feedback
Assume c 0. Consider the controller with feedback
of angular velocity and reduced attitude
u x = -(1+ k x J t Gzs h (G))w x - c(J t - J a )w y
s h2 (G)
+ k x (cJ t Gx - Gy )s h (G) + mgr s - s h (G)f ' Gy
4
u y = -(1+ k y J t Gzs h (G))w y - c(J a - J t )w x
s h2 (G)
+ k y (cJ t Gy - Gx )s h (G) - mgr s - s h (G)f ' Gx
4
where s h (G) = 1- GhT G , kx > 0, ky > 0
f :[0,1) R,strictly monotone

f (0) = 0, f (x) as x 1

Equilibrium of Lagrange Top: Angular
Velocity and Reduced Attitude Feedback

asymptotically stable equilibrium of the closed
loop with a dense domain of attraction (S2 \
{Gi} x R2).
l Controller arises from control Liapunov function V : S 2 R 2 R
l Controller is not globally defined: not defined at

inverted configuration
l The controller is PD feedback: angular velocity

feedback and reduced attitude feedback
l Obtain a nearly global domain of attraction of the

hanging equilibrium; must exclude the inverted
configuration
Simulation Results
Simulation Results
Simulation Results
Asymptotic Stabilization of Inverted
Assume c 0. Consider the controller with feedback
u x = -(1+ k x J t Gzs i (G))w x - c(J t - J a )w y
s i2 (G)
- k x (cJ t Gx - Gy )s i (G) + mgr s + s i (G)f ' Gy
4
u y = -(1+ k y J t Gzs i (G))w y - c(J a - J t )w x
s i2 (G)
- k y (cJ t Gy - Gx )s i (G) - mgr s + s i (G)f ' Gx
4
where s i (G) = 1- GiT G , kx > 0, ky > 0

f (0) = 0, f (x) as x 1

Theorem: The inverted equilibrium (Gi,0) is

asymptotically stable equilibrium of the closed
{Gh} x R2).
l Controller is not globally defined: not defined at

hanging configuration
l The controller is PD feedback: angular velocity

feedback and reduced attitude feedback
l Obtain a nearly global domain of attraction of the

inverted equilibrium; must exclude the hanging
configuration
Simulation Results
Simulation Results
Simulation Results
Asymptotic Stabilization of Arbitrary
Configuration of Spherical Pendulum
Assume c = 0. Consider the controller with feedback

s 02 (G)
u x = mgr s Gy + J t k x y1 - (w x - k x y1 ) + f ' y1
4
s 02 (G)
u y = -mgr s Gx + J t k y y2 - (w y - k y y2 ) + f ' y2
4
where s 0 (G) = 1- G0T G , kx > 0, ky > 0

f (0) = 0, f (x) as x 1

y1 = s 0 (G)(Gyo Gz - Gz0Gy )
and
y2 = s 0 (G)(GzoGx - Gx 0Gz )
Theorem: Let G0 e S2. The equilibrium (G0,0) is

asymptotically
stable equilibrium of the closed
{-G0} x R3).
l Controller is not globally defined

l Controller is PD feedback: angular velocity feedback and

reduced attitude feedback
l Obtain a nearly global domain of attraction of an arbitrary

configuration
l There is large literature on this problem

l Swing-up and switching controller structure widely studied
l Usual models have singularities so that global analysis is not
possible
Simulation Results
Simulation Results
Simulation Results
Uncontrolled Asymmetric
3D Pendulum
l Assume the 3D pendulum is asymmetric, that is the principal
moments of inertia are distinct.
l Assume the pivot location and center of mass location are distinct
l Recall Jw = Jw w + mgr G
G = G w
1 T
l Total energy w Jw - mgr T G is conserved
2

l Angular momentum component about the vertical axis
w T JG is conserved
l Dynamics of asymmetric 3D pendulum evolve on S2 x R3
Equilibria of an Uncontrolled
Asymmetric 3D Pendulum
l Reduced equilibria of the 3D pendulum satisfy
w = 0 and r x G = 0
l There are two reduced equilibrium configurations
r
l Stable hanging equilibrium w = 0, G = G =
h r
-r
l Unstable inverted equilibrium w = 0, G = Gi =
r

Simulations of Uncontrolled Dynamics
of Asymmetric 3D Pendulum
l 3D pendulum data
l J = diag[1, 2.8, 2] kg-m2, m = 1 kg, r = [0, 0, 1] m
l 3D pendulum is initially in horizontal plane
l Simulation responses
l Motion appears to be chaotic

Animation of Uncontrolled Dynamics
of Asymmetric 3D Pendulum
Asymptotic Stabilization of
l Controlled asymmetric 3D pendulum
Jw = Jw w + mgr G + u
G = G w
l Use

feedback to asymptotically stabilize a reduced equilibrium of the
asymmetric 3D pendulum
l Angular velocity feedback

u : R3 R3
l Angular velocity and reduced attitude feedback

u : S2 R3 R3

Existence of Smooth Stabilizing
Controllers for Asymmetric
3D Pendulum
l Global asymptotic stabilization of a reduced attitude
equilibrium of the asymmetric 3D pendulum is not possible
using any continuous feedback
l Reason: there is a topological impediment due to the

fact that the configuration space S2 is compact
l What are possible closed loop domains of attraction?
l The domain of attraction may be all of S2 x R3 except for

a set of Lebesgue measure zero; this is referred to as
almost global asymptotic stabilization.
Equilibrium of Asymmetric
3D Pendulum
Consider the controller with feedback of angular

velocity
u x = -k x w x
u y = -k y w y
where kx > 0, ky > 0 .

with a dense domain of attraction (S2 x R3 ) \ M.
Equilibrium
l Controller is globally defined

l Angular velocity feedback only
l Nearly global domain of attraction of the hanging

equilibrium; must exclude the stable manifold of
the inverted equilibrium
Simulation Results
Simulation Results
Simulation Results
Reduced Attitude Configuration
Consider the controller with feedback of angular
velocity and reduced attitude
s 02 (G)
u = f ' s 0 (G) - mgr G - k x w x - k yw y
4
where s 0 (G) = 1- G0T G , kx > 0, ky > 0

f :[0,1) R, strictly monotone
f (0) = 0, f (x) as x 1

Theorem: Let G0 e S2. The equilibrium (G0,0) is

with a dense domain of attraction (S2 \ {-G0} x R3).
Reduced Attitude Configuration
l Controller arises from control Liapunov function
l Controller is not globally defined
l Feedback of angular velocity and reduced attitude
l Almost global domain of attraction of the specified

equilibrium
l Applies to asymptotic stabilization of hanging

equilibrium or to asymptotic stabilization of inverted
equilibrium
Simulation Result
Simulation Result
Computational Issues for
3D Pendulum
l Computations that preserve the geometry of the configuration space

l Use exponential representations for computations
that involve rotation matrices
l Computations that preserve the geometry imposed by the presence

of conserved quantities
l Use integrators obtained from discrete variational
principles
Experimental Results for the
3D Pendulum
l Adaptive stabilization of the angular velocity
l Assume center of mass coincident with pivot point
l Tracking control of angular velocity only
l Adaptation to unknown inertia of pendulum
l Experimental results obtained from the TACT

Experimental Results for the
l Asymptotic stabilization of hanging equilibrium
l Assume asymmetric 3D pendulum
l Assume center of mass is not coincident with pivot point
l Use feedback controller based on angular velocity feedback only
l Recent experimental results have been obtained from the TACT

Experimental Results
Conclusions
l Propose 3D pendulum as benchmark system for
dynamics and control research
l Study uncontrolled (free) dynamics of 3D pendulum
l Demonstrate existence of conserved quantities
l Multiple coupled rotational degrees of freedom
l Geometry of the 3D pendulum dynamics defined on

compact configuration space SO(3) or S2
l Suggest possibility of chaos in free dynamics
l Study stabilization of 3D pendulum

l Asymmetric pendulum
l Stabilization of reduced hanging equilibrium using

angular velocity feedback only
l Stabilization of arbitrary equilibrium using angular
velocity and reduced attitude feedback
Conclusions
l Axially symmetric pendulum

l Stabilization of Lagrange top
l Stabilization of spherical pendulum
l Study computational dynamics

l
l Preserve geometry of configuration space
l Preserve geometry of any conserved quantities
l Experimental studies using TACT

l Combined theoretical and experimental research
Conclusions
l What are the novel features of this research?
l New 3D pendulum
l Importance of the geometry of the 3D pendulum

dynamics
l New results for free dynamics
l New stabilization results
l Liapunov based controllers defined on S2
l Geometry of closed loop domains of attraction
l Avoid traditional use of controller switching
l Importance of computational dynamics
l Combined theoretical and experimental research

3D Pendulum UM 02 04 05

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Dynamics and Control of a 3D

Department of Aerospace Engineering

Sangbum Cho, Jinglai Shen, Amit Sanyal, Nalin A. Chaturvedi,

National Science Foundation

l Asymptotic stabilization of 3D axially symmetric pendulum

l Asymptotic stabilization of 3D asymmetric pendulum

l Computational issues for 3D pendulum

l One degree of freedom

l Global configuration space is S1

l Global phase space is S1 x R

l Total energy is conserved

l Two degrees of freedom

l Global configuration space is S2

l Global phase space is S2 R2

l Total energy is conserved

l Angular momentum component

l Global configuration space is S2

l Global phase space is S2 R2

l Total energy is conserved

l Angular momentum component about

l Three degrees of rotational

l Gravitational forces; disturbance

l Uniform constant gravity

l Generalization of the planar

l 3D pendulum models are proposed as benchmarks for studying

l Pendulum models are representative of attitude systems in many

l Many interesting control problems for pendulum models in the

l 3D pendulum may exhibit coupling between all three degrees of

l Does the 3D pendulum exhibit any new nonlinear dynamics that

l Does the 3D pendulum present any new nonlinear control design

l G is direction of gravity in body frame

l G always has unity norm

l 3D pendulum has a single axis of mass symmetry

l Body fixed axes are principal axes so that

l Dynamics of axially symmetric 3D pendulum evolve

l Angular momentum component about the vertical axis

l If c=0, the 3D pendulum is identical to the spherical pendulum

l If c0, the 3D pendulum is identical to the Lagrange top

l The reduced equilibria of the axially symmetric 3D pendulum are

l If c = 0, the spherical pendulum has two distinct equilibria

l If c 0, the Lagrange top has two distinct relative equilibria

l Well known stability results are as follows:

l Chaotic solutions are

l Angular velocity and reduced attitude feedback

l What are possible closed loop domains of attraction?

l Asymptotic stabilization of the Lagrange top

l Asymptotic stabilization of the spherical pendulum

where kx > 0, ky > 0 .

l Controller arises from control Liapunov

l Controller is globally defined

l Angular velocity feedback only

l Obtain a nearly global domain of attraction of

where s h (G) = 1- GhT G , kx > 0, ky > 0

f :[0,1) R,strictly monotone

Theorem: The hanging equilibrium (Gh,0) is

l Controller arises from control Liapunov function V : S 2 R 2 R

l Controller is not globally defined: not defined at

l The controller is PD feedback: angular velocity

l Obtain a nearly global domain of attraction of the

where s i (G) = 1- GiT G , kx > 0, ky > 0

f :[0,1) R,strictly monotone

Theorem: The inverted equilibrium (Gi,0) is

l Controller is not globally defined: not defined at