Title :
Time Optimal Swing-Up of the Planar Pendulum
Author :
Mason, Paolo ; Broucke, Mireille ; Piccoli, Benedetto
Author_Institution :
DIIMA, Univ. degli Studi di Salerno, Fisciano
Abstract :
This paper presents qualitative results on the global structure of the time optimal trajectories of the planar pendulum on a cart. This mechanical system is a benchmark to test nonlinear control methods and various papers addressed the problem of computing time optimal open-loop controls. Relying on the theory of optimal synthesis, we provide a discontinuous feedback giving optimal solutions for any initial data. The approach is that of geometric control theory.
Keywords :
control system synthesis; feedback; nonlinear control systems; open loop systems; optimal control; pendulums; cart planar pendulum; discontinuous feedback; geometric control theory; nonlinear control methods; optimal open-loop controls; optimal synthesis; time optimal swing-up; Benchmark testing; Control system synthesis; Control systems; Control theory; Feedback; Mechanical systems; Nonlinear control systems; Open loop systems; Optimal control; System testing; Inverted pendulum; stabilization; time optimal control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2008.929391
