Journal
IFAC PAPERSONLINE
Volume 53, Issue 2, Pages 6346-6351Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2020.12.1767
Keywords
Attitude control; 3-D spherical pendulum; stabilisation; nonlinear control systems
Categories
Ask authors/readers for more resources
We investigate the problem of stabilising the attitude of a 3-D axially symmetric pendulum. The system is assumed to be actuated by two torques acting on a plane orthogonal to the symmetry axis. We develop a smooth control law to stabilise the pendulum to the upright position with a given orientation starting from almost all initial conditions. Our approach consists in two steps: first, stabilising the kinematic subsystem by using the angular velocity as a virtual input; second, exploiting the actual inputs to force the angular velocity to follow the reference designed in the previous step. Copyright (C) 2020 The Authors.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available