Abstract
This paper presents an algorithm to enlarge the estimate of the Region of Attraction of stable equilibria of underactuated systems. To achieve this, we use a combination of the Sum of Squares (SOS) method and the Impulse Manifold Method (IMM). Initially, the SOS method is used to optimize the control input u(x) in order to obtain an enlarged Region of Attraction. The IMM is then applied on enlarged Region of Attraction obtained using SOS to further enlarge it. The IMM is implemented using high gain feedback and to demonstrate the efficacy of our algorithm, we present simulation results where an initial configuration of an acrobot lying outside the true region of attraction is stabilized.
Recommended Citation
D. Chowdhury et al., "Enlarging the Region of Attraction of Equilibria of Underactuated Systems using Sum of Squares and Impulse Manifold Method," Proceedings of the American Control Conference, pp. 893 - 898, article no. 7963066, Institute of Electrical and Electronics Engineers, Jun 2017.
The definitive version is available at https://doi.org/10.23919/ACC.2017.7963066
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
Comments
National Science Foundation, Grant CMMI-1462118