Asymptotic Stabilization of the Inverted Equilibrium Manifold of the 3-D Pendulum Using Non-Smooth Feedback

@article{Chaturvedi2009AsymptoticSO,
  title={Asymptotic Stabilization of the Inverted Equilibrium Manifold of the 3-D Pendulum Using Non-Smooth Feedback},
  author={Nalin A. Chaturvedi and N. Harris McClamroch},
  journal={IEEE Transactions on Automatic Control},
  year={2009},
  volume={54},
  pages={2658-2662}
}
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 actuated by control forces. In , almost global stabilization of the inverted equilibrium manifold was studied using a smooth globally defined feedback. Here, we study the problem of almost global stabilization of the inverted equilibrium manifold using non-smooth feedback of angular velocity and a reduced attitude vector of the 3-D pendulum… CONTINUE READING