Stabilization of underactuated 3D pendulum using partial angular velocity feedback

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 6818-6823

  Chaturvedi, Nalin A ^a   Mcclamroch, N Harris ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANGULAR VELOCITY FEEDBACK; FRICTIONLESS PIVOTS; PARTIAL FEEDBACK; STABILIZING CONTROLLERS;

FEEDBACK CONTROL; FRICTION; PENDULUMS; STABILIZATION; SYSTEM STABILITY;

VELOCITY CONTROL;

EID: 33847228000     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1583258     Document Type: Conference Paper

References (6)

1. J. Shen, A. K. Sanyal, N.A. Chaturvedi, D.S. Bernstein and N.H. Mc-Clamroch, "Dynamics and Control of a 3D Pendulum," Proceedings of the 43rd IEEE Conference on Decision & Control, Bahamas, 2004, 323-328.
2. N. A. Chaturvedi, F. Bacconi, A. K. Sanyal, D. S. Bernstein and N. H. McClamroch, "Stabilization of a 3D Rigid Pendulum," Proceedings of the American Control Conference, Portland, Oregon, 2005, 3030-3035.
3. F. Bullo and R. M. Murray, "Tracking for Fully Actuated Mechanical Systems: A Geometric Framework," Automatica, 35(1), 1999, 17-34.
4. D. E. Chang and J. E. Marsden, "Asymptotic Stability of Heavy Top using Controlled Lagrangian," Proceedings of the 39th IEEE-Conference on Decision & Control, Sydney, Australia, 2000, 269-273.
5. J. Shen, A. K. Sanyal, and N. H. McClamroch, "Asymptotic Stability of Rigid Body Attitude Systems," Proceedings of the 42nd IEEE Conference on Decision & Control, Maui, Hawaii, 2003, 544-549.
6. J. Shen, A. K. Sanyal, and N. H. McClamroch, "Asymptotic Stability of Multi-Body Attitude Systems," Stability and Control of Dynamical Systems with Applications, Chapter 3, Ed. Liu and Antsakalis, Birkhauser, Boston, 2003, 47-70.