Stabilization of the cart-pendulum system through approximate manifold decomposition

This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rather than computing the linearizing output, the algorithm iteratively constructs an approximate feedback form of the original system. The resulting feedback law has a large domain of attraction, which however does not extend over the upper half circle of the pendulum plane. A larger domain of attraction can be obtained by sampling the input and keeping it constant during a short sampling interval. The performance of the strategy is illustrated both in simulation and experimentally on a laboratory-scale setup.


Presented at:
IFAC, Milano, Italy 2011, August 28th to September 2nd 2011
Year:
2011
Keywords:
Laboratories:


Note: The status of this file is: Involved Laboratories Only


 Record created 2010-10-12, last modified 2018-03-17

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