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

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-03113734
Contributor : Paolo Mason <>
Submitted on : Monday, January 18, 2021 - 3:30:45 PM
Last modification on : Saturday, May 1, 2021 - 3:50:41 AM
Long-term archiving on: : Monday, April 19, 2021 - 7:15:14 PM

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IFAC_2020_pendulum.pdf
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  • HAL Id : hal-03113734, version 1

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

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