Controlling the inverted pendulum by means of a nested saturation function

DOI10.1007/s11071-007-9224-3zbMath1170.70389OpenAlexW1975396312MaRDI QIDQ841765

O. Gutiérrez Frias, Carlos Aguilar Ibañez

Publication date: 18 September 2009

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-007-9224-3

zbMATH Keywords

nonlinear systemsbounded controlunderactuated system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05)

Related Items

Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping ⋮ Global asymptotic stabilization of stochastic feedforward nonlinear systems with input time-delay ⋮ Output feedback stabilization of the inverted pendulum system: a Lyapunov approach ⋮ An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation ⋮ Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method ⋮ Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments ⋮ Regional asymptotic stability analysis for discrete-time delayed systems with saturation nonlinearity ⋮ Cascade delayed controller design for a class of underactuated systems ⋮ A robust control scheme for a PVTOL system subject to wind disturbances ⋮ A trajectory planning and tracking control approach for obstacle avoidance of wheeled inverted pendulum vehicles ⋮ Adaptive fuzzy backstepping controller design for uncertain underactuated robotic systems ⋮ Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Global stabilization and restricted tracking for multiple integrators with bounded controls
• Stabilization of the inverted pendulum around its homoclinic orbit
• Nonlinear control of a swinging pendulum
• Swinging up a pendulum by energy control
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• A nonlinear small gain theorem for the analysis of control systems with saturation
• Adaptive output feedback control of nonlinear systems represented by input-output models
• On global properties of passivity-based control of an inverted pendulum
• Adding integrations, saturated controls, and stabilization for feedforward systems