| Autor: |
Matteo Massaro, Stefano Lovato, David J. N. Limebeer |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 12, Iss 16, p 8112 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app12168112 |
| Popis: |
The erection of the inverted pendulum is a classic control problem, which has appeared in several variants. One of the most challenging is the minimum-time erection of a pendulum that is mounted on a moving cart. The aim is to erect the pendulum from the ‘straight-down’ (stable equilibrium) to a ‘straight-up’ (unstable equilibrium) position in minimum time. The swing-up maneuver is usually addressed using a pre-defined control strategy, e.g., energy-based control or selecting the switching times in a bang-bang structure. The aim of this paper is to show that the minimum-time solution may have a singular arc, with the optimal control taking a bang-singular-bang form. The singular arc segment of the control law is a feedback law that is derived herein with the solution discussed. A sensitivity analysis of the solution structure is also performed by varying the model parameters. Finally, the time-optimal solution is compared with that obtained using an energy-based control strategy. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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