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Article Dans Une Revue Automatica Année : 2016

Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable

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Willem Esterhuizen
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  • PersonId : 777826
  • IdRef : 192836196
Jean Lévine
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  • PersonId : 955212

Résumé

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.

Dates et versions

hal-01549638 , version 1 (28-06-2017)

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Citer

Willem Esterhuizen, Jean Lévine. Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable. Automatica, 2016, 73, pp.248-255. ⟨10.1016/j.automatica.2016.07.001⟩. ⟨hal-01549638⟩
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