Time optimal control of pendulum-cart system
- Univ. of Mining and Metallurgy, Krakow (Poland)
We consider the synthesis of time optimal control which steers a pendulum hinged to a cart to a given state (e.g., the upright position), starting from arbitrary initial conditions. The control of the pendulum can system has attracted attention of many authors because of its relatively simple structure and at the same time, nontrivial nonlinearity. Various heuristic approaches combined with 1q stabilization in the vicinity of the target state were used to swing the pendulum up to the upright position and to keep it there. However, time-optimality was not achieved. We construct the time optimal control using a sequence of fixed horizon problems in which the norms of terminal states are minimized. The problems with fixed horizons are solved numerically by means of gradient optimization, with gradients determined from the solution of adjoint equations. Due to embedding the synthesis algorithms in the Matlab - Simulink environment, it is possible to track and visualize the control process as well as the results of simulation experiments.
- OSTI ID:
- 482044
- Report Number(s):
- CONF-960503-; TRN: 97:010576
- Resource Relation:
- Conference: 1. international conference on nonlinear problems in aviation and aerospace, Daytona Beach, FL (United States), 9-11 May 1996; Other Information: PBD: 1994; Related Information: Is Part Of First international conference on nonlinear problems in aviation & aerospace; Sivasundaram, S. [ed.]; PB: 729 p.
- Country of Publication:
- United States
- Language:
- English
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