VSS-version of energy-based control for swinging up a pendulum

DOI10.1016/S0167-6911(01)00124-4zbMath0986.93060OpenAlexW1972435886MaRDI QIDQ5958146

H. Ludvigsen, Olav Egeland, Fradkov, Alexander L., Shiriaev, Anton S.

Publication date: 3 March 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(01)00124-4

zbMATH Keywords

speed-gradient methodpendulumglobal stabilizationvariable structureenergy stabilizationtransient behavior

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Variable structure systems (93B12)

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Cites Work

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• On global properties of passivity-based control of an inverted pendulum
• Stabilization of invariant sets for nonlinear non-affine systems
• Stabilization of compact sets for passive affine nonlinear systems

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