Stabilization of the Furuta pendulum around its homoclinic orbit

DOI10.1080/0020717011011226zbMath1017.93087OpenAlexW2016108308MaRDI QIDQ3151639

Rogelio Lozano, Isabelle Fantoni

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/0020717011011226

zbMATH Keywords

stabilityLyapunov functionpassivitytotal energyhomoclinic orbitinverted pendulumunstable equilibrium positionFuruta pendulumLaSalle invariance theorem

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Lyapunov and storage functions (93D30) Control of mechanical systems (70Q05) Homoclinic and heteroclinic solutions to ordinary differential equations (34C37)

Related Items (13)

Stabilization of the Furuta pendulum based on a Lyapunov function ⋮ A simplified IDA-PBC design for underactuated mechanical systems with applications ⋮ A flatness-based controller for the stabilization of the inverted pendulum ⋮ On the stabilization of the inverted-cart pendulum using the saturation function approach ⋮ Full and reduced-order unknown input observer design for linear time-delay systems with multiple delays ⋮ The direct Lyapunov method for the stabilisation of the Furuta pendulum ⋮ Furuta's pendulum: a conservative nonlinear model for theory and practise ⋮ Stabilization of the inverted pendulum via a constructive Lyapunov function ⋮ Stabilizing a rotary inverted pendulum based on logarithmic Lyapunov function ⋮ Adaptive control of rotary inverted pendulum system with time-varying uncertainties ⋮ Human stick balancing: an intermittent control explanation ⋮ A new swing-up law for the Furuta pendulum ⋮ Waggling conical pendulums and visualization in mechanics

Cites Work

• Stabilization of the inverted pendulum around its homoclinic orbit
• Swinging up a pendulum by energy control
• Energy based control of the Pendubot
• Normal forms for underactuated mechanical systems with symmetry
• Unnamed Item

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