Rate limited time optimal control of a planar pendulum

DOI10.1016/j.sysconle.2011.02.003zbMath1216.49020OpenAlexW1975664879MaRDI QIDQ533803

Paolo Paoletti, Roberto Genesio

Publication date: 6 May 2011

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2011.02.003

zbMATH Keywords

nonlinear systemsinverted pendulumtime optimal controlbang-bangrate limited input

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Optimality conditions for problems involving ordinary differential equations (49K15)

Related Items (1)

Singularity-conquering ZG controllers of z2g1 type for tracking control of the IPC system

Uses Software

• GPOPS

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Time-optimal swing-up feedback control of a pendulum
• A family of smooth controllers for swinging up a pendulum
• Stabilization of the inverted pendulum around its homoclinic orbit
• Swing-up and stabilization of a cart--pendulum system under restricted cart track length.
• Control theory from the geometric viewpoint.
• Swinging up a pendulum by energy control
• Algorithm 902
• The Local Structure of Time-Optimal Trajectories in Dimension Three under Generic Conditions
• On the Local Structure of Optimal Trajectories in R³
• A nonlinear small gain theorem for the analysis of control systems with saturation
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• Time Optimal Swing-Up of the Planar Pendulum
• Almost global stabilization of the inverted pendulum via continuous state feedback

This page was built for publication: Rate limited time optimal control of a planar pendulum