A hybrid control scheme for swing-up acrobatics
- AUTHORS: P.-A. Absil, R. Sepulchre
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
- STATUS: Proceedings of the European Conference on Control ECC 2001, Porto, Portugal, September 4-7, 2001.
- DATE OF ENTRY: March 2001.