Title :
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
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;
Conference_Titel :
Intelligent Control, 1997. Proceedings of the 1997 IEEE International Symposium on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-4116-3
DOI :
10.1109/ISIC.1997.626508
