Non-local stabilization of a spherical inverted pendulum

DOI10.1080/00207170701397541MaRDI QIDQ3543032zbMATH 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/10.1080/00207170701397541

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Stabilization of systems by feedback (93D15)

Recommendations

• Non-linear stable inversion-based output tracking control for a spherical inverted pendulum
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• Controlling the inverted pendulum by means of a nested saturation function

Cites work

• A nonlinear small gain theorem for the analysis of control systems with saturation
• Adding integrations, saturated controls, and stabilization for feedforward systems
• Almost global stabilization of the inverted pendulum via continuous state feedback
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Further facts about input to state stabilization
• On characterizations of the input-to-state stability property
• Smooth stabilization implies coprime factorization

Cited in

(10)

• Non-linear stable inversion-based output tracking control for a spherical inverted pendulum
• Optimal spiral-like solutions near a singular extremal in a two-input control problem
• Swinging up the spherical pendulum via stabilization of its first integrals.
• Modelling and control of a spherical pendulum via a non-minimal state representation
• On the exact tracking of the spherical inverted pendulum via an homotopy method
• Stabilizing a spherical pendulum on a quadrotor
• Optimal control of a spherical inverted pendulum
• Decentralized control design of interconnected chains of integrators: a case study
• Global stabilization of the unstable reaction-wheel pendulum
• On topological obstructions to global stabilization of an inverted pendulum

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