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Artículo
A family of smooth controllers for swinging up a pendulum
dc.creator | Aström, K. J. | |
dc.creator | Aracil Santonja, Javier | |
dc.creator | Gordillo Álvarez, Francisco | |
dc.date.accessioned | 2015-03-06T07:35:55Z | |
dc.date.available | 2015-03-06T07:35:55Z | |
dc.date.issued | 2008 | |
dc.identifier.issn | 0005-1098 | es |
dc.identifier.uri | http://hdl.handle.net/11441/23373 | |
dc.description | Es el primer envío que hago. Le agradeceré si me confirma que es todo correcto, especialmente el cumplimiento de los derechos de propiedad de la editorial. Mi email es gordillo@us.es | es |
dc.description.abstract | The paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law. The properties of the solution can be modified by the parameters in the control law. Control signal saturation can also be taken into account using the Hamiltonian approach. | es |
dc.description.sponsorship | MCyT-FEDER DPI2006-07338 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.relation.ispartof | Automatica, 44(7), 1841-1848. | es |
dc.rights | Atribución-NoComercial-CompartirIgual 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | * |
dc.subject | Pendulum | es |
dc.subject | Shaping Hamiltonians | es |
dc.subject | Swing-up | es |
dc.subject | Energy management | es |
dc.title | A family of smooth controllers for swinging up a pendulum | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | doi:10.1016/j.automatica.2007.10.040 | es |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.automatica.2007.10.040 | |
dc.identifier.doi | 10.1016/j.automatica.2007.10.040 | |
dc.identifier.idus | https://idus.us.es/xmlui/handle/11441/23373 | |
dc.contributor.funder | Ministerio de Ciencia y Tecnología (MCYT). España | |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) |
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aut6461.pdf | 566.1Kb | [PDF] | Ver/ | |