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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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01549638
Contributor : François Chaplais <>
Submitted on : Wednesday, June 28, 2017 - 10:39:25 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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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⟩

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