Title :
On the use of dynamic invariants and forwarding for swinging up a spherical inverted pendulum
Author :
Albouy, Xavier ; Praly, Laurent
Author_Institution :
41 bd Exelmans, Paris, France
Abstract :
We design and implement a controller to swing up a spherical pendulum carried by a three links robot arm. This controller is the patch of two linear controllers and a nonlinear one. The latter is based on energy and kinetic momentum assignment and relies in part on the forwarding design technique
Keywords :
asymptotic stability; control system synthesis; linear systems; manipulator dynamics; nonlinear control systems; pendulums; position control; dynamic invariants; forwarding design technique; kinetic momentum assignment; linear controllers; spherical inverted pendulum; swinging up; three links robot arm; Acceleration; Actuators; Asymptotic stability; Content addressable storage; Control systems; Gravity; Kinetic theory; Open loop systems; Robots; Trajectory;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912101
