Two different stabilization strategies are proposed. The first controller, based on angular velocity feedback only, asymptotically stabilizes the hanging ...

In this paper, we study stabilization problems for a 3D rigid pendulum defined in terms of the reduced attitude. A. 3D rigid pendulum is supported at a pivot.

Oct 22, 2024 · We propose controllers and provide sufficient conditions for stabilization of the hanging equilibrium of an underactuated, 3D pendulum. A ...

The main contribution of this paper is its development of results for almost global asymptotic stabilization of an equilibrium of the 3D rigid pendulum. These ...

We introduced models for a 3D pendulum, consisting of a rigid body that is supported at a frictionless pivot, in a 2004 CDC paper [Shen, J, Dec. 2004].

The reduced attitude of the 3D rigid pendulum is defined as the attitude or orientation of the 3D rigid pendulum, modulo rotation about a vertical axis.

In this paper we present experimental results that verify the stabilization of the hanging equilibrium for the asymmetric. 3D rigid pendulum. We discuss the ...

We develop a smooth control law to stabilise the pendulum to the upright position with a given orientation starting from almost all initial conditions.

Two different stabilization strategies are proposed. The first controller, based on angular velocity feedback only, asymptotically stabilizes the hanging ...

A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force.