Synchronization of pendulum like systems
Author
Kerimoğlu, Deniz
Advisor
Morgül, Ömer
Date
2011Publisher
Bilkent University
Language
English
Type
ThesisItem Usage Stats
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Abstract
Synchronization is a phenomenon that is widely encountered in nature, life sciences
and engineering. There exist various synchronization definitions in various
research fields. The general definition for synchronization is the adjustment of
rhythms of oscillating systems due to their weak interaction. Synchronization
problem depends on the type of applications that require suitable properties
and comparison functions. Different applications require different properties and
comparison functions. Throughout our study, we choose the comparison function
to be the difference of the states variables of the systems in hand.
In this thesis, we will present types and methods of synchronization which
has practical applications, i.e. mechanical systems. Then, we will investigate the
passive controlled in-phase synchronization of spring-damper coupled single and
double pendulum systems by using various stability analysis for both the system
in hand and its appropriately defined error dynamics. We mostly achieved
in-phase synchronization in these coupled pendulum systems with a few exceptions
which are based on several conditions. Finally, we will explain the masterslave
synchronization of two ball hoppers using two different gait controllers,
namely, fully-actuated and under-actuated controllers. By using fully-actuated
controller for the slave hopper, we achieved apex state synchronization and by
using under-actuated controller for the slave hopper, we achieved apex position
synchronization between these two hoppers in master slave configuration.
Keywords
In-phase SynchronizationMaster Slave Synchronization
Coupled Pendulum System
Ball hopper
Gait Controller