Barriers and potentially safe sets in hybrid systems: pendulum with non-rigid cable

DOI10.1016/J.AUTOMATICA.2016.07.001MaRDI QIDQ2409309zbMATH OpenOpenAlexFDO

Authors Willem Esterhuizen, Jean Lévine

Publication date 11 October 2017

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2109.10976

zbMATH Keywords

admissible setbarriercontrol of constrained systemshybrid systemsmixed constraintsnonlinear systemssafety setsstate and input constraints

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Abstract: This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable vanishes. We present a direct construction of the boundary of the potentially safe set in which there always exists a control such that the cable never goes slack. A discussion on the dependence of this set with respect to the pendulum and cart masses is then sketched.

Recommendations

• The safety problem for nonlinear systems with delay in terms of barrier functions
• On maximal robust positively invariant sets in constrained nonlinear systems
• Hybrid Systems: Computation and Control
• On barriers in state and input constrained nonlinear systems
• Extent-compatible control barrier functions

Cites work

• A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games
• An introduction to hybrid dynamical systems
• Analysis and control of nonlinear systems. A flatness-based approach
• Approximations of upper semicontinuous maps on paracompact spaces
• Barrier certificates for nonlinear model validation
• Barrier Lyapunov functions for the control of output-constrained nonlinear systems
• Capture basin approximation using interval analysis
• Computational techniques for hybrid system verification
• Computing the viability kernel using maximal reachable sets
• Controllers for reachability specifications for hybrid systems
• Discovery of the maximum principle
• scientific article; zbMATH DE number 19122 (Why is no real title available?)
• scientific article; zbMATH DE number 41285 (Why is no real title available?)
• scientific article; zbMATH DE number 2200773 (Why is no real title available?)
• scientific article; zbMATH DE number 3245077 (Why is no real title available?)
• scientific article; zbMATH DE number 3247810 (Why is no real title available?)
• scientific article; zbMATH DE number 3256013 (Why is no real title available?)
• scientific article; zbMATH DE number 3276736 (Why is no real title available?)
• scientific article; zbMATH DE number 3186512 (Why is no real title available?)
• Hybrid dynamical systems. Modeling, stability, and robustness
• Nonlinear control of a tethered UAV: the taut cable case
• On barriers in state and input constrained nonlinear systems
• On the Reachability Problem for Uncertain Hybrid Systems
• Optimal Control Problems with Mixed Constraints

Cited in

(3)

• Active vibration control of a flexible rod moving in water: application to nuclear refueling machines
• On maximal robust positively invariant sets in constrained nonlinear systems
• Bracketing backward reach sets of a dynamical system

This page was built for publication: Barriers and potentially safe sets in hybrid systems: pendulum with non-rigid cable

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2409309)