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Swing-up and stabilization of a Twin-Pendulum under state and control constraints by a fast NMPC scheme

✍ Scribed by Mazen Alamir; André Murilo

Publisher
Elsevier Science
Year
2008
Tongue
English
Weight
984 KB
Volume
44
Category
Article
ISSN
0005-1098

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Swing-up and stabilization of a cart–pen
Swing-up and stabilization of a cart–pendulum system under restricted cart track length
✍ Debasish Chatterjee; Amit Patra; Harish K. Joglekar 📂 Article 📅 2002 🏛 Elsevier Science 🌐 English ⚖ 218 KB

This paper describes the swing-up and stabilization of a cart-pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium conÿguration using e