Non-linear stable inversion-based output tracking control for a spherical inverted pendulum

DOI10.1080/00207170701383798zbMATH Open1194.93160OpenAlexW2063300576MaRDI QIDQ3542952FDOQ3542952

Authors: Guangyu Liu, Iven Mareels, Dragan Nešić 

Publication date: 1 December 2008

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170701383798

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Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Application models in control theory (93C95) Stabilization of systems by feedback (93D15)

Cites Work

• A nonlinear small gain theorem for the analysis of control systems with saturation
• Should model-based inverse inputs be used as feedforward under plant uncertainty?
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Nonlinear inversion-based output tracking
• Invertibility of multivariable nonlinear control systems
• Approximated stable inversion for nonlinear systems with nonhyperbolic internal dynamics
• Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators
• Noncausal inverses for linear systems

Cited In (7)

• Hierarchical sliding-mode control of spatial inverted pendulum with heterogeneous comprehensive learning particle swarm optimization
• Decentralized control design of interconnected chains of integrators: a case study
• Fuzzy stable inversion-based output tracking for nonlinear non-minimum phase system and application to FAHVs
• Non-local stabilization of a spherical inverted pendulum
• A continuation theorem on periodic solutions of regular nonlinear systems and its application to the exact tracking problem for the inverted spherical pendulum
• On the exact tracking of the spherical inverted pendulum via an homotopy method
• Title not available (Why is that?)

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