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

页码：649 / 654

页数：6

共 18 条

[1]

[Anonymous], P BLOCK ISL WORKSH C

[2]

ASTROM KJ, 1996, P IFAC C, VE, P37

[3]

BRANICKY MS, 1994, IEEE DECIS CONTR P, P3498, DOI 10.1109/CDC.1994.411688

[4]

BROCKETT RW, 1993, PROG SYST C, V14, P29

[5] A ROBUST LAYERED CONTROL-SYSTEM FOR A MOBILE ROBOT [J].

BROOKS, RA .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1986, 2 (01) :14-23

[6] NONLINEAR CONTROL OF A SWINGING PENDULUM [J].

CHUNG, CC ;

HAUSER, J .

AUTOMATICA, 1995, 31 (06) :851-862

[7]

Dogruel M, 1995, LECT NOTES COMPUT SC, V999, P148

[8] A framework for hybrid control design [J].

Fierro, R ;

Lewis, FL .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 1997, 27 (06) :765-773

[9]

Filippov A.F., 1988, MATH ITS APPL SOVIET, V18

[10]

Malmborg J., 1996, P TRIENNIAL IFAC WOR, VF, P229

← 1 2 →