Robust global swing-up of the pendubot via hybrid control
Submitted by ricardo on February 28, 2017 - 2:36pm
| Title | Robust global swing-up of the pendubot via hybrid control |
| Publication Type | Conference Paper |
| Year of Publication | 2008 |
| Authors | O’Flaherty R., Sanfelice R.G, Teel A.R |
| Conference Name | Proc. 27th American Control Conference |
| Keywords | hybrid systems |
| Abstract | Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task robustly by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design the control strategy and implement it in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller. |
| URL | https://hybrid.soe.ucsc.edu/files/preprints/25.pdf |
| DOI |
