Title :
Time optimal swing-up of the planar pendulum
Author :
Mason, Paolo ; Broucke, Mireille E. ; Piccoli, Benedetto
Author_Institution :
Nancy-Univ., Vandoeuvre-les-Nancy
Abstract :
This paper presents results on the global structure of the time optimal trajectories of the planar pendulum on a cart. Relying on the geometric theory of time optimal synthesis, we provide a discontinuous feedback giving optimal solutions for any initial data.
Keywords :
nonlinear control systems; optimal control; pendulums; geometric theory; planar pendulum; time optimal synthesis; time optimal trajectory; Acceleration; Control systems; Differential equations; Feedback; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Optimal control; Portable media players; USA Councils;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434688
