In this paper, we propose a hybrid feedback that coordinates a “synergistic” family of potential functions and their gradient-based feedbacks to ensure global ...
Abstract— Topological obstructions preclude the existence of a continuous state-feedback control law that globally asymp- totically stabilizes the inverted ...
In this paper, we propose a hybrid feedback that coordinates a “synergistic” family of potential functions and their gradient-based feedbacks to ensure global ...
Title, Global Asymptotic Stabilization of the Inverted Equilibrium Manifold of the 3-D Pendulum by Hybrid Feedback. Publication Type, Conference Paper.
Global asymptotic stabilization of the inverted equilibrium manifold of the 3-D pendulum by hybrid feedback. Christopher G. Mayhew, Andrew R. Teel.
[PDF] Asymptotic Smooth Stabilization of the Inverted 3D Pendulum
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The first part of the paper studies stabilization of a specified inverted equilibrium in the in- verted equilibrium manifold using angular velocity and attitude.
The 3-D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom; it is acted on by gravity and it is fully ...
Mayhew, C.G. and Teel, A.R. (2010). Global asymptotic stabilization of the inverted equilibrium manifold of the 3-D pendulum by hybrid feedback. In 49th IEEE ...
We propose to develop a robust, asymptotic stability theory for hybrid systems that feature some effects of a worst-case nature and some effects that are ...
Stabilizing controllers are developed for a 3D pendulum assuming that the pendulum has a single axis of symmetry and that the center of mass lies on the axis ...