Barriers and potentially safe sets in hybrid systems: Pendulum with non-rigid cable

• Autores: Willem Esterhuizen, Jean Lévine
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 73, 2016, págs. 248-255
• Idioma: inglés
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• Resumen

  • 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.