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

Paolo Mason (1) , Luca Greco (1)

1 L2S - Laboratoire des signaux et systèmes

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.

Mots clés: Attitude control; 3-D spherical pendulum; stabilisation; nonlinear control systems

Domaines: Optimisation et contrôle [math.OC]; Automatique / Robotique

Paolo Mason, Luca Greco. Almost global attitude stabilisation of a 3-D pendulum by means of two control torques. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin (virtual), Germany. ⟨10.1016/j.ifacol.2020.12.1767⟩. ⟨hal-03113734⟩