Time-optimal swing-up feedback control of a pendulum

被引：0
|
作者：
F. L. Chernousko
S. A. Reshmin
机构：
[1] Institute for Problems in Mechanics of the Russian Academy of Sciences,
来源：
Nonlinear Dynamics | 2007年 / 47卷
关键词：
Pendulum; Swing-up control; Time-optimal control; Feedback control; Maximum principle;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Time-optimal feedback control is obtained that brings a pendulum to the upper unstable equilibrium position. The solution is based on the maximum principle and involves analytical investigations combined with numerical computations. As a result, the switching and dispersal curves that bound the domains in the phase plane corresponding to different values of the optimal bang-bang control are constructed for various values of the maximal admissible control torque.
引用
收藏
页码：65 / 73
页数：8
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