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.