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Stabilization of the inverted spherical pendulum via Lyapunov approach
Author(s) -
Gutiérrez F. O. Octavio,
Aguilar Ibéñez Carlos,
Sossa A. Humberto
Publication year - 2009
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.140
Subject(s) - inverted pendulum , control theory (sociology) , controller (irrigation) , lyapunov function , position (finance) , kapitza's pendulum , pendulum , mathematics , nonlinear system , equilibrium point , domain (mathematical analysis) , double pendulum , plane (geometry) , computer science , control (management) , engineering , physics , mathematical analysis , geometry , artificial intelligence , differential equation , economics , mechanical engineering , finance , quantum mechanics , agronomy , biology
In this paper a nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle's invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point with the position of the movable base at the origin. The obtained closed‐loop system has a very large domain of attraction, that can be as large as desired, for any initial position of the pendulum which lies above the horizontal plane. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society