A new family of smooth strategies for swinging up a pendulum
A new family of smooth strategies for swinging up a pendulum
复制标题
一系列新的平稳摆动策略
DOI：
10.3182/20050703-6-cz-1902.00843
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
F. Gordillo
中科院分区：
文献类型：
--
作者：
K. Åström;J. Aracil;F. Gordillo
本文提出了一系列新的摆动摆动策略。它们源于基于两个概念的物理论证：为没有阻尼的系统塑造哈密顿量；以及在相关区域提供阻尼或能量泵浦。得到了一个具有良好性能的无开关两参数简单策略族。主要结果是，对于控制律中的大范围参数，所有非零勒贝格测度集的解都将收敛到直立位置。因此，摆动和稳定问题可以用一个单一的、光滑的规律同时解决。
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.
DOI：
10.1109/cdc.2003.1272824
发表时间：
2003-12
期刊：
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
影响因子：
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作者：
K. Furuta
通讯作者：
K. Furuta