A hybrid control approach for a class of underactuated mechanical systems

Author

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

Author_Institution

Inst. of Autom. & Robotics Res., Texas Univ., Arlington, TX, USA

fYear

1997

fDate

16-18 Jul 1997

Firstpage

367

Lastpage

372

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 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; continuous time systems; discrete event systems; position control; state feedback; Lyapunov theory; balancing control; closed-loop hybrid system; continuous-state; discrete-event supervisor; hybrid control; inverted pendulum; stabilizing hybrid scheme; state feedback controllers; swing up control; switching boundary; underactuated mechanical systems; Control systems; Disk drives; Logic devices; Logic testing; Lyapunov method; Magnetic heads; Mechanical systems; Servomechanisms; Switches; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1997. Proceedings of the 1997 IEEE International Symposium on

Conference_Location

Istanbul

ISSN

2158-9860

Print_ISBN

0-7803-4116-3

Type

conf

DOI

10.1109/ISIC.1997.626508

Filename

626508