Title :
A nonlinear dynamic inversion computational approach applied to the exact tracking problem for the spherical pendulum
Author :
Consolini, Luca ; Tosques, Mario
Author_Institution :
Dipt. di Ing. dell´´Inf., Univ. di Parma, Parma, Italy
Abstract :
In this paper we present a new computational approach for nonlinear dynamic inversion based on an ¿homotopy technique¿ applied to the exact tracking problem for the spherical inverted pendulum on a periodic curve in ¿3, non necessarily planar.
Keywords :
geometry; nonlinear systems; exact tracking problem; homotopy technique; nonlinear dynamic inversion computational approach; spherical inverted pendulum; Aircraft; Control systems; Least squares approximation; Linear systems; Motorcycles; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Sufficient conditions; Trajectory;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738789
