3.8 Proceedings Paper

Almost global attitude stabilisation of a 3-D pendulum by means of two control torques

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IFAC PAPERSONLINE
卷 53, 期 2, 页码 6346-6351

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ELSEVIER
DOI: 10.1016/j.ifacol.2020.12.1767

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Attitude control; 3-D spherical pendulum; stabilisation; nonlinear control systems

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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.

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