Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4999928 | Automatica | 2016 | 8 Pages |
Abstract
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.
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Willem Esterhuizen, Jean Lévine,