Almost global stabilization of the inverted pendulum via continuous state feedback
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The author presents a continuous feedback law which almost globally stabilizes an inverted pendulum on a cart, which means that the basin of attraction of the closed loop system is open and dense.
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Cites work
- A nonlinear small gain theorem for the analysis of control systems with saturation
- Adding integrations, saturated controls, and stabilization for feedforward systems
- scientific article; zbMATH DE number 1341817 (Why is no real title available?)
- scientific article; zbMATH DE number 1182386 (Why is no real title available?)
- On global properties of passivity-based control of an inverted pendulum
- Swinging control of nonlinear oscillations
- Swinging up a pendulum by energy control
- Swinging up the spherical pendulum via stabilization of its first integrals.
Cited in
(41)- 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
- Stability analysis and state feedback stabilization of pendulum-like systems with multiple nonlinearities
- Almost global attitude stabilisation of an underactuated axially symmetric 3-D pendulum
- A new geometric trajectory tracking controller for the unicycle mobile robot
- 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
- Energy control of a pendulum with quantized feedback
- Optimal spiral-like solutions near a singular extremal in a two-input control problem
- Minimal realizations of the nonlinear system with derivative dynamic state feedback control
- 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
- A flatness-based controller for the stabilization of the inverted pendulum
- On the possibility of globally stabilizing invariant sets
- The modified Hamiltonian method and its application in the stabilization of the inverted pendulum on a cart
- Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
- A swinging up controller for the Furuta pendulum based on the total energy control system approach.
- Rate limited time optimal control of a planar pendulum
- Tracking control of a nonminimum phase inverted pendulum
- Partial variable stabilization of an inertia wheel pendulum
- Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments
- Adaptive compensation for unknown external disturbances for an inverted pendulum based on the internal model principle
- Global stabilization of the unstable reaction-wheel pendulum
- Estimating the derivatives of external perturbations based on virtual dynamic models
- 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
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