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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01549638
Contributeur : François Chaplais
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Soumis le : mercredi 28 juin 2017 - 22:39:25
Dernière modification le : lundi 12 novembre 2018 - 11:04:30
Willem Esterhuizen, Jean Lévine. Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable. Automatica, Elsevier, 2016, 73, pp.248-255. ⟨10.1016/j.automatica.2016.07.001⟩. ⟨hal-01549638⟩
