IEEE - Institute of Electrical and Electronics Engineers, Inc. - Way Point Tracking of a Spherical Inverted Pendulum

2007 IEEE International Conference on Control and Automation, ICCA 2007

Author(s): Guangyu Liu ; I. Mareels ; D. Nesic
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2007
Conference Location: Guangzhou, China
Conference Date: 30 May 2007
Page(s): 654 - 659
ISBN (CD): 978-1-4244-0818-4
ISBN (Paper): 978-1-4244-0817-7
ISSN (Electronic): 1948-3457
ISSN (Paper): 1948-3449
DOI: 10.1109/ICCA.2007.4376436
Regular:

The paper addresses the problem of way-point tracking for the spherical inverted pendulum under the influence of a planar force. A nonlinear controller is proposed that drives the pendulum to... View More

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