A new family of smooth strategies for swinging up a pendulum
Author
Editor
- Pavel Piztek
Summary, in English
The paper presents a new family of strategies for swinging up a pendulum. They are derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions. A two-parameter family of simple strategies without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set will converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law.
Department/s
Publishing year
2005
Language
English
Publication/Series
Proceedings of the 16th IFAC World Congress
Full text
- Available as PDF - 293 kB
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Links
Document type
Conference paper
Publisher
Elsevier
Topic
- Control Engineering
Keywords
- Swing up
- Pendulum
- Shaping Hamiltonians
Status
Published
ISBN/ISSN/Other
- ISBN: 0-08-045108-X