Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism
نویسندگان
چکیده
منابع مشابه
Modelling and Stabilisation of a Spherical Inverted Pendulum
We design a nonlinear control law for a four degree of freedom spherical inverted pendulum based on the forwarding technique. We first explore the forwarding structure of the spherical inverted pendulum model and then find a control law to stabilize the angle variables. Next, we develop a nested saturating controller for the whole system. The control law is evaluated through simulations.Copyrig...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2015
ISSN: 1729-8814,1729-8814
DOI: 10.5772/60027