A new family of smooth strategies for swinging up a pendulum
(2005)- 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:
https://lup.lub.lu.se/record/535680
- author
- Åström, Karl Johan LU ; Aracil, Javier and Gordillo, Francisco
- organization
- publishing date
- 2005
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Swing up, Pendulum, Shaping Hamiltonians
- host publication
- 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
- 2016-04-04 10:12:48
- date last changed
- 2022-01-29 19:59:05
@inproceedings{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}}, booktitle = {{Proceedings of the 16th IFAC World Congress}}, editor = {{Piztek, Pavel}}, isbn = {{0-08-045108-X}}, keywords = {{Swing up; Pendulum; Shaping Hamiltonians}}, language = {{eng}}, publisher = {{Elsevier}}, title = {{A new family of smooth strategies for swinging up a pendulum}}, url = {{https://lup.lub.lu.se/search/files/5488761/625569.pdf}}, year = {{2005}}, }