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A new family of smooth strategies for swinging up a pendulum

Författare:
Redaktör:
  • Pavel Piztek
Publiceringsår: 2005
Språk: Engelska
Publikation/Tidskrift/Serie: Proceedings of the 16th IFAC World Congress
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

The paper presents a new family of strategies for swinging up a pendulum. They are derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions. A two-parameter family of simple strategies without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set will converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law.

Disputation

Nyckelord

  • Technology and Engineering
  • Swing up
  • Pendulum
  • Shaping Hamiltonians

Övriga

Published
Yes
  • ISBN: 0-08-045108-X

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