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Journal articles
Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable
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
Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Wednesday, June 28, 2017 - 10:39:25 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:04 PM
Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Wednesday, June 28, 2017 - 10:39:25 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:04 PM
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