DocumentCode
3071776
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
Volume
6
fYear
1999
fDate
1999
Firstpage
4039
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786295
Filename
786295
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