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Conference Papers Year : 2020

Almost global attitude stabilisation of a 3-D pendulum by means of two control torques

Paolo Mason
Luca Greco

Abstract

We investigate the problem of stabilising the attitude of a 3-D axially symmetric pendulum. The system is assumed to be actuated by two torques acting on a plane orthogonal to the symmetry axis. We develop a smooth control law to stabilise the pendulum to the upright position with a given orientation starting from almost all initial conditions. Our approach consists in two steps: first, stabilising the kinematic subsystem by using the angular velocity as a virtual input; second, exploiting the actual inputs to force the angular velocity to follow the reference designed in the previous step.
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Dates and versions

hal-03113734 , version 1 (18-01-2021)

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Paolo Mason, Luca Greco. Almost global attitude stabilisation of a 3-D pendulum by means of two control torques. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin (virtual), Germany. ⟨10.1016/j.ifacol.2020.12.1767⟩. ⟨hal-03113734⟩
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