Nonlinear analysis and control of a reaction wheel-based 3D inverted pendulum
Decision and Control（2013）
摘要
This paper presents the nonlinear analysis and control design of the Cubli, a reaction wheel-based 3D inverted pendulum. Using the concept of generalized momenta, the key properties of a reaction wheel-based 3D inverted pendulum are compared to the properties of a 1D case in order to come up with a relatively simple and intuitive nonlinear controller. Finally, the proposed controller is implemented on the Cubli, and the experimental results are presented.
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关键词
control system synthesis,nonlinear control systems,pendulums,1D case,Cubli,control design,generalized momenta,nonlinear analysis,nonlinear controller,reaction wheel-based 3D inverted pendulum,
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