Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Brief paper: A family of smooth controllers for swinging up a pendulum
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Optimal regulator for the inverted pendulum via Euler-Lagrange backward integration
Automatica (Journal of IFAC)
Swinging up the spherical pendulum via stabilization of its first integrals
Automatica (Journal of IFAC)
Brief Tracking trajectories of the cart-pendulum system
Automatica (Journal of IFAC)
On the stability and stabilization of quaternion equilibria of rigid bodies
Automatica (Journal of IFAC)
Case studies on the application of the stable manifold approach for nonlinear optimal control design
Automatica (Journal of IFAC)
Direct robust adaptive NN tracking control for double inverted pendulums
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part V
Dynamic modelling and stabilization of a new configuration of two-wheeled machines
Robotics and Autonomous Systems
Adaptive NN tracking control of double inverted pendulums with input saturation
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
| Hi-index | 22.16 |
Continuous state feedback laws are presented for ''almost'' global stabilization of the planar inverted pendulum on a cart. The synthesis is carried out exploiting energy-shaping techniques and a suitable smooth switching between positive and negative feedback. Some of the employed ideas could be possibly generalized to the problem of stabilization of systems with multiple equilibrium points.