Conference Proceedings

Modelling and stabilisation of a spherical inverted pendulum

G Liu, D Nešić, I Mareels

IFAC Proceedings Volumes (IFAC-PapersOnline) | Published : 2005


We design a nonlinear control law for a four degree of freedom spherical inverted pendulum based on the forwarding technique. We first explore the forwarding structure of the spherical inverted pendulum model and then find a control law to stabilize the angle variables. Next, we develop a nested saturating controller for the whole system. The control law is evaluated through simulations. Copyright © 2005 IFAC.

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