Controlling the inverted pendulum by means of a nested saturation function View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2008-09

AUTHORS

Carlos Aguilar Ibañez, O. Gutiérrez Frias

ABSTRACT

A nonlinear controller is presented for the stabilization of the underactuated inverted pendulum mounted on a cart. The fact that this system can be expressed as a chain of integrators, with an additionally nonlinear perturbation, allows us to use a nested saturation control technique to bring the pendulum to the top position, with zero displacement of the cart. The obtained closed-loop system is semiglobal, asymptotically stable, and locally exponentially stable, under the assumption that the position of the angle is initialized above the upper half plane. More... »

PAGES

273-280

References to SciGraph publications

Journal

TITLE

Nonlinear Dynamics

ISSUE

4

VOLUME

53

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s11071-007-9224-3

DOI

http://dx.doi.org/10.1007/s11071-007-9224-3

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1012432848


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