On the exact tracking of the spherical inverted pendulum via an homotopy method

DOI10.1016/J.SYSCONLE.2008.06.010MaRDI QIDQ999823zbMATH OpenOpenAlexFDO

Authors Luca Consolini, Mario Tosques

Publication date 10 February 2009

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.sysconle.2008.06.010

zbMATH Keywords

dynamic inversionspherical pendulumhomotopy methods

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Algebraic methods (93B25)

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Cites work

• scientific article; zbMATH DE number 589247 (Why is no real title available?)
• A homotopy approach for nonlinear control synthesis
• A homotopy approach to the feedback stabilization of linear systems
• Asymptotic stabilization of the hanging equilibrium manifold of the 3D pendulum
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Non-linear stable inversion-based output tracking control for a spherical inverted pendulum
• Nonlinear inversion-based output tracking
• On the Existence of Small Periodic Solutions for the 2-Dimensional Inverted Pendulum on a Cart
• On the VTOL Exact Tracking With Bounded Internal Dynamics via a PoincarÉ Map Approach
• Robust nonlinear least squares estimation using the Chow-Yorke homotopy method
• Swinging up the spherical pendulum via stabilization of its first integrals.

Cited in

(8)

• Non-linear stable inversion-based output tracking control for a spherical inverted pendulum
• Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments
• A continuation theorem on periodic solutions of regular nonlinear systems and its application to the exact tracking problem for the inverted spherical pendulum
• Set membership inversion and robust control from data of nonlinear systems
• Singularity-conquering ZG controllers of z2g1 type for tracking control of the IPC system
• A sufficient condition for dichotomy based on a suitable invariance property
• Tracking control of a nonminimum phase inverted pendulum
• Perturbed Butterworth Pole Patterns for Tracking in the Sense of Spheres

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