Time optimal swing-up of the planar pendulum

Paolo Mason, Mireille E. Broucke, Benedetto Piccoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents results on the global structure of the time optimal trajectories of the planar pendulum on a cart. Relying on the geometric theory of time optimal synthesis, we provide a discontinuous feedback giving optimal solutions for any initial data.

Original languageEnglish (US)
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages5389-5394
Number of pages6
DOIs
StatePublished - Dec 1 2007
Externally publishedYes
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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