Time optimal swing-up of the planar pendulum

被引：36

作者：

Mason, Paolo ^{[1
,2
]}

Broucke, Mireille ^{[3
]}

Piccoli, Benedetto ^{[2
]}

机构：

[1] Univ Salerno, DIIMA, Salerno, Italy

[2] Ist Applicaz Calcolo M Picone, I-00161 Rome, Italy

[3] Univ Toronto, Dept Elect & Comp Engn, Toronto, ON M5S 3G4, Canada

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 08期

基金：

加拿大自然科学与工程研究理事会;

关键词：

inverted pendulum; stabilization; time optimal control;

D O I：

10.1109/TAC.2008.929391

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1876 / 1886

页数：11

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