Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy

DOI10.1007/s11071-016-2658-8zbMath1355.93084OpenAlexW2268394754MaRDI QIDQ333183

Jianlong Qiu, Shuli Gong, Ancai Zhang, Chengdong Yang

Publication date: 9 November 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-2658-8

zbMATH Keywords

nonlinear controlcoordinate transformationunderactuated mechanical systeminertia wheel pendulum (IWP)time-reverse

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Stability of control systems (93D99)

Related Items (3)

Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms ⋮ Estimation of and compensation for unknown input nonlinearities using equivalent-input-disturbance approach ⋮ Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments

Cites Work

• An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation
• A unified solution to swing-up control for \(n\)-link planar robot with single passive joint based on virtual composite links and passivity
• Control of underactuated mechanical systems with servo-constraints
• Motion planning and tracking control for an acrobot based on a rewinding approach
• Partially saturated nonlinear control for gantry cranes with hardware experiments
• Periodic motion planning and nonlinear ℋ_∞tracking control of a 3-DOF underactuated helicopter
• Stabilization of nonlinear systems via forwarding mod {L/sub g/V}
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Nonlinear control of the reaction wheel pendulum

This page was built for publication: Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy