CUED Publications database

A hybrid control scheme for swing-up acrobatics

Absil, PA and Sepulchre, R (2001) A hybrid control scheme for swing-up acrobatics. In: UNSPECIFIED pp. 2860-2864..

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This paper describes a hybrid control scheme to swing-up a pendulum mounted on a cart (cart-pole system) or on another pendulum (pendubot system). Switches between equilibria of the actuated link are used to swing-up the free link. It is argued that this hybrid design is robust and versatile, considerably simplifies the closed-loop analysis, and is well-suited for performance optimization.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 18:59
Last Modified: 02 Sep 2021 04:55
DOI: doi:10.23919/ecc.2001.7076366