Stabilization of a 3D rigid pendulum

Proceedings of the American Control Conference

Volumn 5, Issue , 2005, Pages 3030-3035

  Chaturvedi, Nalin A ^a   Bacconi, Fabio ^a   Sanyal, Amit K ^a   Bernstein, Dennis ^a   McClamroch, N Harris ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL PROBLEMS; FRICTIONLESS PIVOT; GLOBAL DOMAINS; INVERTED EQUILIBRIUM;

ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL EQUIPMENT; CONTROL SYSTEM ANALYSIS; FRICTION; MATHEMATICAL MODELS; PROBLEM SOLVING;

PENDULUMS;

EID: 23944437644     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. J, Shen et. al., "Dynamics and Control of a 3D Pendulum" Proceedings of the 43rd IEEE Conference on Decision & Control, Bahamas, December, 2004, 323-328.
2. nd IEEE Conference on Decision and Control, Maui, Hawaii, December, 2003, 1498-1507.
3. F. Bullo and R. M. Murray, "Tracking for fully actuated mechanical systems: A geometric framework," Automatica, 35(1), 1999, 17-34.
4. K.J. Astrom and K. Furuta, "Swinging-up a Pendulum by Energy Control," Proceedings of the IFAC Congress, Vol. E, 1996, 37-42.
5. J. Guckenheimer and P. Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields, Springer-Verlag New York, 1983.
6. S. P. Bhat and D. S. Bernstein, "A Topological Obstruction to Global Asymptotic Stabilization of Rotational Motion and the Unwinding Phenomenon," Proceedings of the American Control Conference, June 1998, 2785-2789.