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VSS-version of energy-based control for swinging up a pendulum

✍ Scribed by A.S. Shiriaev; O. Egeland; H. Ludvigsen; A.L. Fradkov

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
149 KB
Volume
44
Category
Article
ISSN
0167-6911

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✦ Synopsis

A new algorithm ensuring global attractivity of the upright (unstable) equilibrium of a pendulum, based on the variable structure system-version of the energy-speed-gradient method, is proposed. It is shown that global attractivity cannot be obtained with continuous static state feedback. A detailed global analysis of the transient behavior of the closed loop system is presented. In addition, it is shown that the global attractivity of the upright equilibrium can be achieved by applying a control of arbitrarily small magnitude.

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