Controlling the Transition From Stable Resting to Tracking Control of an Unstable System

Abstract

This paper discusses the control problem of launching an open-loop unstable system from its resting state on a mechanical hard stop. Smooth state transition with the appropriate control mode is accomplished by fuzzy transition logic. A “soft tracking” algorithm with on-line trajectory planning is then employed to manage the system stabilization immediately following the launch. The strategies have been successfully applied to an experimental system consisting of a hydraulically balanced beam pivoted at its center.