@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} }

- Published 2009 in IEEE Transactions on Automatic Control
DOI:10.1109/TAC.2009.2031570

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 pendulumâ€¦Â CONTINUE READING