DocumentCode
872479
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
Volume
53
Issue
8
fYear
2008
Firstpage
1876
Lastpage
1886
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2008.929391
Filename
4631515
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