Barriers and potentially safe sets in hybrid systems: Pendulum with non-rigid cable
Copyright policy )Barriers and potentially safe sets in hybrid systems: Pendulum with non-rigid cable
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable vanishes. We present a direct construction of the boundary of the potentially safe set in which there always exists a control such that the cable never goes slack. A discussion on the dependence of this set with respect to the pendulum and cart masses is then sketched.
10 pages, 5 figures, as published in Automatica
Barrier, Hybrid systems, state and input constraints, State and input constraints, Safety sets, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, safety sets, Nonlinear systems, Control of mechanical systems, FOS: Mathematics, FOS: Electrical engineering, electronic engineering, information engineering, Nonlinear systems in control theory, Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems), Mixed constraints, Mathematics - Optimization and Control, admissible set, hybrid systems, 004, Control of constrained systems, 93C10 (Primary), 34A38 (Secondary), Optimization and Control (math.OC), mixed constraints, barrier, Admissible set, nonlinear systems, Control/observation systems governed by ordinary differential equations, control of constrained systems
Barrier, Hybrid systems, state and input constraints, State and input constraints, Safety sets, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, safety sets, Nonlinear systems, Control of mechanical systems, FOS: Mathematics, FOS: Electrical engineering, electronic engineering, information engineering, Nonlinear systems in control theory, Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems), Mixed constraints, Mathematics - Optimization and Control, admissible set, hybrid systems, 004, Control of constrained systems, 93C10 (Primary), 34A38 (Secondary), Optimization and Control (math.OC), mixed constraints, barrier, Admissible set, nonlinear systems, Control/observation systems governed by ordinary differential equations, control of constrained systems
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