Almost global attitude stabilisation of a 3-D pendulum by means of two control torques. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Mason, Paolo; Greco, Luca
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 6346
• Page End: 6351
• Publication Date: 2020
• Subjects: Attitude control -- 3-D spherical pendulum -- stabilisation -- nonlinear control systems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1767
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We investigate the problem of stabilising the attitude of a 3-D axially symmetric pendulum. The system is assumed to be actuated by two torques acting on a plane orthogonal to the symmetry axis. We develop a smooth control law to stabilise the pendulum to the upright position with a given orientation starting from almost all initial conditions. Our approach consists in two steps: first, stabilising the kinematic subsystem by using the angular velocity as a virtual input; second, exploiting the actual inputs to force the angular velocity to follow the reference designed in the previous step.