Title :
On the exact tracking of the spherical inverted pendulum via an homotopy method
Author :
Consolini, Luca ; Tosques, Mario
Author_Institution :
Dipt. di Ing. dell´´Inf., Univ. of Parma, Parma
Abstract :
A spherical pendulum consists of a mass (the body) linked to a moving mass (the base), to which an external force is applied. In recent literature considerable attention has been given to the spherical pendulum with particular emphasis on the stabilization problem, but there are fewer results related to tracking. This paper considers an "homotopy method" for solving the exact tracking problem for the inverted pendulum for given trajectories. Recently this method has allowed us to find precise bounds for the internal dynamics of some well-known nonminimum phase systems with two-dimensional internal dynamics and to characterize precisely the set of curves that can be tracked for the case of the VTOL aircraft. This paper is a first step for finding similar results for a nonminimum phase system with internal dynamics of dimension greater than 2, such as the spherical pendulum.
Keywords :
nonlinear dynamical systems; pendulums; tracking; VTOL aircraft; exact tracking; homotopy method; internal dynamics; nonminimum phase systems; spherical inverted pendulum; stabilization problem; Aircraft; Automatic control; Automation; Control systems; Motorcycles; Nonlinear dynamical systems; Sufficient conditions; Trajectory;
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
DOI :
10.1109/MED.2008.4602230
