Swing-up and stabilization of a cart--pendulum system under restricted cart track length. (Q1853433): Difference between revisions
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Property / full work available at URL: https://doi.org/10.1016/s0167-6911(02)00229-3 / rank | |||
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Latest revision as of 12:17, 30 July 2024
scientific article
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English | Swing-up and stabilization of a cart--pendulum system under restricted cart track length. |
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Swing-up and stabilization of a cart--pendulum system under restricted cart track length. (English)
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21 January 2003
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This paper describes the swing-up and stabilization of a cart--pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium configuration using energy control principles. An ``energy well'' is built within the cart track to prevent the cart from going outside the limited length. When sufficient energy is acquired by the pendulum, it goes into a ``cruise'' mode when the acquired energy is maintained. Finally, when the pendulum is close to the upright configuration, a stabilizing controller is activated around a linear zone about the upright configuration. The proposed scheme has worked well both in simulation and a practical setup and the conditions for stability have been derived using the multiple Lyapunov functions approach.
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Multi-mode control
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Control of nonlinear systems
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Control of hybrid systems
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