Title :
A hybrid control scheme for swing-up acrobatics
Author :
Absil, P.-A. ; Sepulchre, R.
Author_Institution :
Inst. Montefiore, Univ. de Liege, Liège, Belgium
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;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
