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Hybrid control for a class of underactuated mechanical systems

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3 Author(s)
R. Fierro ; Fac. de Ingenieria, Esuela Politecnica Nacional, Quito, Ecuador ; F. L. Lewis ; A. Lowe

This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a discrete-event supervisor. When the continuous-state hits a switching boundary, a new controller is applied to the plant. Lyapunov theory is used to determine the switching boundaries and to guarantee the stability of the closed-loop hybrid system. This approach is applied to the well-known swing up and balancing control problem of the inverted pendulum

Published in:

IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans  (Volume:29 ,  Issue: 6 )