Modelling and control of a spherical pendulum via a non-minimal state representation

DOI10.1080/13873954.2020.1853175MaRDI QIDQ5070665zbMATH OpenOpenAlexFDO

Authors Ricardo Campa, Israel Soto, Omar Martínez

Publication date 14 April 2022

Published in Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial 4.0 International

Full work available at URL https://doi.org/10.1080/13873954.2020.1853175

zbMATH Keywords

controlmodellingnon-minimal representationspherical pendulum

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• Control of nonlinear dynamical systems. Methods and applications
• Global stabilization for systems evolving on manifolds
• scientific article; zbMATH DE number 439900 (Why is no real title available?)
• scientific article; zbMATH DE number 3651791 (Why is no real title available?)
• scientific article; zbMATH DE number 4118601 (Why is no real title available?)
• Modelling and control of robot manipulators.
• Morse theory and Lyapunov stability on manifolds
• Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration
• Stability of dynamical systems. Continuous, discontinuous, and discrete systems

Cited in

(1)

• Conserving integration of multibody systems with singular and non-constant mass matrix including quaternion-based rigid body dynamics

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