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Can I read Swinging Up the Spherical Pendulum via Stabilization of Its First Integrals on EtoBox?
Swinging Up the Spherical Pendulum via Stabilization of Its First Integrals by A.S. Shiriaev; H. Ludvigsen; O. Egeland is a Engineering article available to read on EtoBox.
What is Swinging Up the Spherical Pendulum via Stabilization of Its First Integrals about?
This paper presents a new controller for swinging up the spherical pendulum. The problem of stabilizing the upright equilibrium of the spherical pendulum is typically solved in two steps: First, a controller is used to swing up the pendulum so that it enters some vicinity of the upright equilibrium, and then a locally stabilizing controller is used. The contribution of this paper is the design of a controller that solves the ÿrst subproblem for almost all initial conditions. The controller stabilizes the two-dimensional stable manifold of the hyperbolic upright equilibrium. The proposed technique is based on the passivity properties of the spherical pendulum.
Who reads Swinging Up the Spherical Pendulum via Stabilization of Its First Integrals?
It is typically read by researchers, students, and practitioners in Engineering.
- Author
- A.S. Shiriaev; H. Ludvigsen; O. Egeland
- Publisher
- Elsevier Science; Elsevier ; Elsevier Ltd.; Test accounts; Elsevier BV (ISSN 0005-1098)
- Published
- 2004
- Language
- EN
- Field
- Engineering (Physical Sciences)