Title :
Swinging up of non-affine in control pendulum
Author :
Shiriaev, A.S. ; Ludvigsen, H. ; Egeland, O. ; Fradkov, A.L.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The problems of global stabilization of any prescribed energy level of the pendulum and the upright unstable equilibrium point of the pendulum are solved. The proposed stabilizing algorithm for the upright equilibrium position is based on a VSS-like modification of the energy-speed-gradient method. The qualitative description of the transient behaviour of the closed loop system is obtained
Keywords :
closed loop systems; nonlinear control systems; pendulums; stability; variable structure systems; VSS-like modification; closed loop system; energy-speed-gradient method; global stabilization; nonaffine pendulum control; nonlinear mechanical system; pendulum swing-up; qualitative description; transient behaviour; upright unstable equilibrium point; Closed loop systems; Control theory; Ear; Energy states; Mechanical systems; Motion control; Nonlinear systems; Regulators; State feedback; Switches;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786295
