Nonlinear control of the Reaction Wheel Pendulum

Automatica

Volumn 37, Issue 11, 2001, Pages 1845-1851

  Spong, Mark W ^a   Corke, Peter ^b   Lozano, Rogelio ^c  

^a University of Illinois at Urbana Champaign   (United States)

^b CSIRO   (Australia)

^c UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

Feedback linearization; Mechanical systems; Nonlinear control; Passivity; Stabilization; Switching control

Indexed keywords

ACTUATORS; APPROXIMATION THEORY; FEEDBACK; LINEARIZATION; PENDULUMS; STATE SPACE METHODS; TORQUE;

DIFFEOMORPHISM; SWITCHING CONTROL;

NONLINEAR CONTROL SYSTEMS;

EID: 0035501848     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(01)00145-5     Document Type: Article

References (11)

1. Nonlinear controllers for nonintegrable systems: The acrobot example
2. Stabilization of underactuated mechanical systems via interconnection and damping assignment
3. On global properties of passivity-based control of an inverted pendulum
4. The control of underactuated mechanical systems
5. Swing up control of the acrobot
6. The Pendubot: A mechatronic systems for control research and education