Optimal regulator for the inverted pendulum via Euler-Lagrange backward integration

DOI10.1016/j.automatica.2004.04.012zbMath1055.93519OpenAlexW2082939174MaRDI QIDQ1881211

Thomas Holzhüter

Publication date: 4 October 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2004.04.012

zbMATH Keywords

Euler-Lagrange equationsHamilton-Jacobi equationnonlinear optimal controlstable manifoldcart-pendulum system

Mathematics Subject Classification ID

Optimal feedback synthesis (49N35) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Asymptotic stabilization of nonlinear systems with convex-polytope input constraints by continuous input ⋮ METHOD TO SOLVE THE NONLINEAR INFINITE HORIZON OPTIMAL CONTROL PROBLEM WITH APPLICATION TO THE TRACK CONTROL OF A MOBILE ROBOT ⋮ Optimal Fractional Order Proportional—Integral—Differential Controller for Inverted Pendulum with Reduced Order Linear Quadratic Regulator ⋮ Recursive approximate solution to time-varying matrix differential Riccati equation: linear and nonlinear systems

Cites Work

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• Approximate solutions to the time-invariant Hamilton-Jacobi-Bellman equation
• Swinging up a pendulum by energy control
• Two-dimensional global manifolds of vector fields
• A set oriented approach to global optimal control
• Feedback control methodologies for nonlinear systems
• Almost global stabilization of the inverted pendulum via continuous state feedback
• VSS-version of energy-based control for swinging up a pendulum

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