Brief paper: Sliding mode control of a class of underactuated systems
Automatica (Journal of IFAC)
Modeling and simulation of hybrid systems using a special class of timed Petri net
ICC'05 Proceedings of the 9th International Conference on Circuits
Parameter identification of a model with coulomb friction for a real inverted pendulum system
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Hybrid state approach for modelling electrical and mechanical systems
Mathematical and Computer Modelling: An International Journal
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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