Cooperative Stabilizability by PD Control for Inverted Pendulums

Abstract

This paper is concerned with cooperative stabilization, where we try to find a physical system which can be stabilized by cooperation even if any single agent alone is not stabilizable. Specifically, we consider a set of inverted pendulums which is locally controlled by a PD controller as a physical system. After review of theoretical results on the cooperative stabilization we show that there exists an inverted pendulum with PD controller which can be stabilized by cooperation even if any single inverted pendulum alone is not stabilizable.