Robust global swing-up of the pendubot via hybrid control

Publication Type:

E. Conference Papers


Proc. 27th American Control Conference, p.1424–1429 (2008)



hybrid systems


Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task robustly by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design the control strategy and implement it in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller.
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