Stabilization of the inverted pendulum around its homoclinic orbit

Authors
Lozano, R Fantoni, I Block, DJ
Citation
R. Lozano et al., Stabilization of the inverted pendulum around its homoclinic orbit, SYST CONTR, 40(3), 2000, pp. 197-204
Citations number
15
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
SYSTEMS & CONTROL LETTERS
ISSN journal
01676911 → ACNP
Volume
40
Issue
3
Year of publication
2000
Pages
197 - 204
Database
ISI
SICI code
0167-6911(20000705)40:3<197:SOTIPA>2.0.ZU;2-B
Abstract
The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balanc ing the inverted pendulum and raise it to its upper equilibrium position wh ile the cart displacement is brought to zero. The control strategy is based on an energy approach of the cart and pendulum system. (C) 2000 Published by Elsevier Science B.V. All rights reserved.