Hybrid control for a class of underactuated mechanical systems

被引：52
|
作者：
Fierro, R [1 ]
Lewis, FL
Lowe, A
机构：
[1] Escuela Politec Nacl, Fac Ingn Elect, Quito, Ecuador
[2] Univ Texas, Automat & Robot Res Inst, Ft Worth, TX 76118 USA
[3] Mentor Graph Corp, Mentor Consulting Div, Embedded Syst Knowledge Ctr, Ft Worth, TX 76118 USA
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 1999年 / 29卷 / 06期
关键词：
D O I：
10.1109/3468.798069
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a discrete-event supervisor. When the continuous-state hits a switching boundary, a new controller is applied to the plant. Lyapunov theory is used to determine the switching boundaries and to guarantee the stability of the closed-loop hybrid system. This approach is applied to the well-known swing up and balancing control problem of the inverted pendulum.
引用
收藏
页码：649 / 654
页数：6
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