An extension of the feedback linearization method in the control problem of an inverted pendulum on a wheel

DOI10.1134/S0005117924040052MaRDI QIDQ6599084zbMATH OpenFDO

Authors L. B. Rapoport, A. A. Generalov, B. A. Barulin, M. D. Gorbachev

Publication date 5 September 2024

Published in Automation and Remote Control (Search for Journal in Brave)

zbMATH Keywords

linear matrix inequalitiesasymptotic stabilizationinverted pendulumestimation of attraction domain

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Linearizations (93B18) Feedback control (93B52) Asymptotic stability in control theory (93D20)

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Cites work

• A nonlinear small gain theorem for the analysis of control systems with saturation
• A time-optimal control synthesis for a nonlinear pendulum
• Control of an inverted pendulum on a wheel
• Global stabilization of an inverted pendulum-control strategy and experimental verification
• Stabilisation and motion control of unstable objects
• Stabilization of a cart with inverted pendulum

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