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

DOI10.1080/00207170701383798MaRDI QIDQ3542952zbMATH OpenOpenAlexFDO

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

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)

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Cites work

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

Cited in

(9)

• Fuzzy stable inversion-based output tracking for nonlinear non-minimum phase system and application to FAHVs
• Modelling and control of a spherical pendulum via a non-minimal state representation
• Tracking control of a nonminimum phase inverted pendulum
• On the exact tracking of the spherical inverted pendulum via an homotopy method
• scientific article; zbMATH DE number 6112565 (Why is no real title available?)
• A continuation theorem on periodic solutions of regular nonlinear systems and its application to the exact tracking problem for the inverted spherical pendulum
• Decentralized control design of interconnected chains of integrators: a case study
• Hierarchical sliding-mode control of spatial inverted pendulum with heterogeneous comprehensive learning particle swarm optimization
• Non-local stabilization of a spherical inverted pendulum

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