Hybrid control for a class of underactuated mechanical systems

Author

Fierro, Rafael ; Lewis, Frank L. ; Lowe, Andy

Author_Institution

Fac. de Ingenieria, Esuela Politecnica Nacional, Quito, Ecuador

Volume

29

Issue

6

fYear

1999

fDate

11/1/1999 12:00:00 AM

Firstpage

649

Lastpage

654

Abstract

This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a discrete-event supervisor. When the continuous-state hits a switching boundary, a new controller is applied to the plant. Lyapunov theory is used to determine the switching boundaries and to guarantee the stability of the closed-loop hybrid system. This approach is applied to the well-known swing up and balancing control problem of the inverted pendulum

Keywords

Lyapunov methods; closed loop systems; discrete event systems; intelligent control; motion control; nonlinear dynamical systems; pendulums; stability; state feedback; Lyapunov theory; balancing control; closed-loop system; discrete-event supervisor; hybrid control; intelligent control; inverted pendulum; stability; state feedback; swing up control; switching boundary; underactuated mechanical systems; Control systems; Disk drives; Logic devices; Magnetic heads; Mechanical systems; Robotics and automation; Stability; State feedback; Switches; Target tracking;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/3468.798069

Filename

798069