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• W2422050549 abstract "Abstract This paper presents a hybrid control method that controls to unstable equilibria of nonlinear systems by taking advantage of systems’ stable manifold of free dynamics. Resulting nonlinear controllers are closed-loop and can be computed in real-time. Thus, we present a computationally efficient approach to optimization-based switching control design using a manifold tracking objective. Our method is validated for the cart-pendulum and the pendubot inversion problems. Results show the proposed approach conserves control effort compared to tracking the desired equilibrium directly. Moreover, the method avoids parameter tuning and reduces sensitivity to initial conditions. Finally, when compared to existing energy based swing-up strategies, our approach does not rely on pre-derived, system-specific switching controllers. We use hybrid optimization to automate switching control synthesis on-line for nonlinear systems." @default.
• W2422050549 created "2016-06-24" @default.
• W2422050549 creator A5043362659 @default.
• W2422050549 creator A5067725461 @default.
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• W2422050549 date "2015-01-01" @default.
• W2422050549 modified "2023-10-14" @default.
• W2422050549 title "Sequential Action Control for Tracking of Free Invariant Manifolds**This material is based upon work supported by the National Science Foundation under Grant CMMI 1200321. Any opinions, _ndings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reect the views of the National Science Foundation." @default.
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• W2422050549 doi "https://doi.org/10.1016/j.ifacol.2015.11.197" @default.
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