Stabilization of a 3D rigid pendulum

Nalin A. Chaturvedi, Fabio Bacconi, Amit Sanyal, Dennis Bernstein, N. Harris McClamroch

Research output: Contribution to journalConference article

28 Citations (Scopus)

Abstract

We introduced models for a 3D pendulum, consisting of a rigid body that is supported at a frictionless pivot, in a 2004 CDC paper. In that paper, several different classifications were given and models were developed for each classification. Control problems were posed based on these various models. This paper continues that line of research by studying stabilization problems for a reduced model of the 3D pendulum. Two different stabilization strategies are proposed. The first controller, based on angular velocity feedback only, asymptotically stabilizes the hanging equilibrium. The domain of attraction is shown to be almost global. The second controller, based on angular velocity and reduced attitude feedback, asymptotically stabilizes the inverted equilibrium, providing an almost global domain of attraction. Simulation results are provided to illustrate closed loop properties.

Original languageEnglish (US)
Article numberThC05.6
Pages (from-to)3030-3035
Number of pages6
JournalProceedings of the American Control Conference
Volume5
StatePublished - Sep 2 2005
Externally publishedYes
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

Fingerprint

Pendulums
Stabilization
Angular velocity
Feedback
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Chaturvedi, N. A., Bacconi, F., Sanyal, A., Bernstein, D., & McClamroch, N. H. (2005). Stabilization of a 3D rigid pendulum. Proceedings of the American Control Conference, 5, 3030-3035. [ThC05.6].

Stabilization of a 3D rigid pendulum. / Chaturvedi, Nalin A.; Bacconi, Fabio; Sanyal, Amit; Bernstein, Dennis; McClamroch, N. Harris.

In: Proceedings of the American Control Conference, Vol. 5, ThC05.6, 02.09.2005, p. 3030-3035.

Research output: Contribution to journalConference article

Chaturvedi, NA, Bacconi, F, Sanyal, A, Bernstein, D & McClamroch, NH 2005, 'Stabilization of a 3D rigid pendulum', Proceedings of the American Control Conference, vol. 5, ThC05.6, pp. 3030-3035.
Chaturvedi NA, Bacconi F, Sanyal A, Bernstein D, McClamroch NH. Stabilization of a 3D rigid pendulum. Proceedings of the American Control Conference. 2005 Sep 2;5:3030-3035. ThC05.6.
Chaturvedi, Nalin A. ; Bacconi, Fabio ; Sanyal, Amit ; Bernstein, Dennis ; McClamroch, N. Harris. / Stabilization of a 3D rigid pendulum. In: Proceedings of the American Control Conference. 2005 ; Vol. 5. pp. 3030-3035.
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