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A new family of smooth strategies for swinging up a pendulum

Åström, Karl Johan LU ; Aracil, Javier and Gordillo, Francisco (2005) In Proceedings of the 16th IFAC World Congress
Abstract
The paper presents a new family of strategies for swinging up a pendulum. They are 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. A two-parameter family of simple strategies without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set will 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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Swing up, Pendulum, Shaping Hamiltonians
in
Proceedings of the 16th IFAC World Congress
editor
Piztek, Pavel
publisher
Elsevier
external identifiers
  • Scopus:79960727496
ISBN
0-08-045108-X
language
English
LU publication?
yes
id
9aa7fa46-6ee8-4c15-9cdb-98498fe21573 (old id 535680)
alternative location
http://www.esi2.us.es/~gordillo/PUBLI/prague1.pdf
date added to LUP
2007-09-12 16:17:58
date last changed
2016-12-04 04:42:19
@misc{9aa7fa46-6ee8-4c15-9cdb-98498fe21573,
  abstract     = {The paper presents a new family of strategies for swinging up a pendulum. They are 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. A two-parameter family of simple strategies without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set will 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.},
  author       = {Åström, Karl Johan and Aracil, Javier and Gordillo, Francisco},
  editor       = {Piztek, Pavel},
  isbn         = {0-08-045108-X},
  keyword      = {Swing up,Pendulum,Shaping Hamiltonians},
  language     = {eng},
  publisher    = {ARRAY(0x94b8c70)},
  series       = {Proceedings of the 16th IFAC World Congress},
  title        = {A new family of smooth strategies for swinging up a pendulum},
  year         = {2005},
}