Model-free robust underactuated control of inverted pendulums

DOI10.1016/J.JFRANKLIN.2025.107911MaRDI QIDQ6837111zbMATH OpenFDO

Authors Quanmin Zhu, Changyi Lei, Baiyang Shi, Jianhua Zhang, Juan Wang

Publication date 26 March 2026

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JFRANKLIN.2025.107911

zbMATH Keywords

bench test demonstrationscontrol of inverted pendulumsLyapunov stabilitymodel-free SMCrobust control

Mathematics Subject Classification ID

Stability for nonlinear problems in mechanics (70K20) Variable structure systems (93B12)

Cites work

• Control allocation -- a survey
• Controllability and control synthesis of underactuated magnetic microrobots
• Development of a fuzzy-LQR and fuzzy-LQG stability control for a double link Rotary inverted pendulum
• High-order fully actuated system approaches. I: Models and basic procedure
• Model-reference adaptive control. A primer
• Normal forms for underactuated mechanical systems with symmetry
• Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
• Robust nonlinear 3D control of an inverted pendulum balanced on a quadrotor
• Sliding mode control of a class of underactuated systems
• U-control – a universal platform for control system design with inversion/cancellation of nonlinearity, dynamic and coupling through model-based to model-free procedures
• Variable structure control of complex systems. Analysis and design

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