A family of smooth controllers for swinging up a pendulum

被引：48
作者：
Astrom, K. J. [2 ]
Aracil, J. [1 ]
Gordillo, F. [1 ]
机构：
[1] Univ Seville, Escuela Super Ingenieros, Seville 41092, Spain
[2] Lund Univ, Lund Inst Technol, SE-22100 Lund, Sweden
来源：
AUTOMATICA | 2008年 / 44卷 / 07期
关键词：
pendulum; shaping Hamiltonians; swing-up; energy management;
D O I：
10.1016/j.automatica.2007.10.040
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law. The properties of the solution can be modified by the parameters in the control law. Control signal saturation can also be taken into account using the Hamiltonian approach. (c) 2008 Elsevier Ltd. All rights reserved.
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收藏
页码：1841 / 1848
页数：8
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