Resumen
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.
Idioma original | Inglés |
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Páginas (desde-hasta) | 273-280 |
Número de páginas | 8 |
Publicación | Nonlinear Dynamics |
Volumen | 53 |
N.º | 4 |
DOI | |
Estado | Publicada - sep. 2008 |