A hybrid control scheme for swing-up acrobatics

• AUTHORS: P.-A. Absil, R. Sepulchre
• ABSTRACT:
  This paper describes a hybrid control scheme to swing-up a pendulum mounted on a car (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.
• STATUS: Proceedings of the European Conference on Control ECC 2001, Porto, Portugal, September 4-7, 2001.
• DATE OF ENTRY: March 2001.

• Paper: PS file, PDF file.

• This work was performed at the Montefiore Institute.