IEEE - Institute of Electrical and Electronics Engineers, Inc. - Output tracking of underactuated rotary inverted pendulum by nonlinear controller

42nd IEEE International Conference on Decision and Control

Author(s): Qiguo Yan
Sponsor(s): Honeywell Lab.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2003
Conference Location: Maui, HI, USA
Conference Date: 9 December 2003
Volume: 3
Page Count: 6
ISBN (Paper): 0-7803-7924-1
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2003.1272978
Regular:

A novel tracking control law is developed for underactuated nonminimum inverted pendulum on a rotor arm by a combinated application of nonlinear backstepping, differential flatness, and small gain... View More

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