OTHER
On the use of dynamic invariants and forwarding for swinging up a spherical inverted pendulum
X. Albouy, Laurent Praly
- Year
- 2002
- Citations
- 25
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
Inverted pendulumSwingDouble pendulumControl theory (sociology)Controller (irrigation)Nonlinear systemComputer scienceRobotDouble inverted pendulumKinetic energy
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