Abstract
Trajectory reversing is a method commonly used for estimating the region of attraction of stabilized equilibria. Using a discrete set of points obtained by trajectory reversing, this paper presents an algorithm for estimation and mathematical representation of the region of attraction using convex hulls. Several two-dimensional examples are presented to illustrate the usefulness of the algorithm. The method provides larger estimates compared to that obtained by existing algorithms, but its main advantage lies in its applicability to higher-order systems. The mathematical representation of the region of attraction is useful in applying the Impulse Manifold Method, which was developed for stabilization of equilibria of underacuated systems from configurations lying outside their region of attraction. The region of attraction of the pendubot upright equilibrium is estimated to demonstrate the applicability of our algorithm to higher-order systems and illustrate the usefulness of the Impulse Manifold Method through simulations.
Recommended Citation
N. Kant et al., "An Algorithm for Enlarging the Region of Attraction using Trajectory Reversing," Proceedings of the American Control Conference, pp. 4171 - 4176, article no. 7963596, Institute of Electrical and Electronics Engineers, Jun 2017.
The definitive version is available at https://doi.org/10.23919/ACC.2017.7963596
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-150905992-8
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
29 Jun 2017
