Controlling the inverted pendulum by means of a nested saturation function |
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Authors: | Carlos Aguilar Ibañez O Gutiérrez Frias |
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Institution: | (1) Centro de Investigación en Computación, Instituto Politécnico Nacional, México, D.F., México |
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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. |
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Keywords: | Underactuated system Nonlinear systems Bounded control |
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