• DocumentCode
    697491
  • Title

    A hybrid control scheme for swing-up acrobatics

  • Author

    Absil, P.-A. ; Sepulchre, R.

  • Author_Institution
    Inst. Montefiore, Univ. de Liege, Liège, Belgium
  • fYear
    2001
  • fDate
    4-7 Sept. 2001
  • Firstpage
    2860
  • Lastpage
    2864
  • Abstract
    This paper describes a hybrid control scheme to swing-up a pendulum mounted on a cart (cart-pole system) or on another pendulum (pendubot system). Switches between equilibria of the actuated link are used to swing-up the free link. It is argued that this hybrid design is robust and versatile, considerably simplifies the closed-loop analysis, and is well-suited for performance optimization.
  • Keywords
    closed loop systems; continuous systems; control system synthesis; discrete systems; nonlinear control systems; optimisation; robust control; switching systems (control); actuated link; cart-pole system; closed-loop analysis; equilibrium switching; free link swing-up; hybrid control scheme; hybrid design; pendubot system; pendulum swing-up; performance optimization; robust design; swing-up acrobatics; versatile design; Acceleration; Equations; Europe; Mathematical model; Switches; Trajectory; Underactuated systems; energy control; hybrid control; inverted pendulum; swing-up;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2001 European
  • Conference_Location
    Porto
  • Print_ISBN
    978-3-9524173-6-2
  • Type

    conf

  • Filename
    7076366
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=697491