Almost global stabilization of the inverted pendulum via continuous state feedback

DOI10.1016/S0005-1098(01)00064-4zbMath0980.93064MaRDI QIDQ5939337

David Angeli

Publication date: 20 February 2002

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

feedback stabilization; dense basin of attraction; Lagrange stability; mechanical system

Mathematics Subject Classification ID

93D15: Stabilization of systems by feedback

70Q05: Control of mechanical systems

70E60: Robot dynamics and control of rigid bodies

Related Items

A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach, Tracking Control of a Nonminimum Phase Inverted Pendulum, Energy control of a pendulum with quantized feedback, A flatness-based controller for the stabilization of the inverted pendulum, Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties, Rate limited time optimal control of a planar pendulum, Output-feedback control for stabilization on \(\mathrm{SE}(3)\), A family of smooth controllers for swinging up a pendulum, Almost global stabilization of fully-actuated rigid bodies, Furuta's pendulum: a conservative nonlinear model for theory and practise, Stabilization of the inverted pendulum via a constructive Lyapunov function, Global stabilization of an inverted pendulum-control strategy and experimental verification, Swinging up the spherical pendulum via stabilization of its first integrals., Stability and chaotic behavior of a PID controlled inverted pendulum subjected to harmonic base excitations by using the normal form theory, A simplified IDA-PBC design for underactuated mechanical systems with applications, Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method, On topological obstructions to global stabilization of an inverted pendulum, Tracking trajectories of the cart-pendulum system, Optimal regulator for the inverted pendulum via Euler-Lagrange backward integration, On the stability and stabilization of quaternion equilibria of rigid bodies, Synthesis of a multifunctional tracking system in conditions of uncertainty, Real-time implementation and analysis of a modified energy based controller for the swing-up of an inverted pendulum on a cart, Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies, Set stabilization of Chua's circuit via piece-wise linear feedbacks, Global bifurcation analysis of a controlled underactuated mechanical system, Non-local stabilization of a spherical inverted pendulum, Global set stabilization of the spacecraft attitude control problem based on quaternion, A new controller for the inverted pendulum on a cart, Global set stabilisation of the spacecraft attitude using finite-time control technique

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Swinging up the spherical pendulum via stabilization of its first integrals.
• Swinging up a pendulum by energy control
• A nonlinear small gain theorem for the analysis of control systems with saturation
• Swinging control of nonlinear oscillations
• Adding integrations, saturated controls, and stabilization for feedforward systems