Optimal Shortcuts to Adiabatic Control by Lagrange Mechanics
We combined an inverse engineering technique based on Lagrange mechanics and optimal control theory to design an optimal trajectory that can transport a cartpole in a fast and stable way. For classical control, we used the relative displacement between the ball and the trolley as the controller to s...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
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| Series: | Entropy |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1099-4300/25/5/719 |