Abstract
This paper presents the dynamics and control of a control moment gyroscope actuated inverted pendulum. The control technique utilizes partial feedback linearization, an appropriate global change of coordinates which transform the dynamics of the system into a lower nonlinear subsystem and a chain of double integrators. A control Lyapunov function is designed in order to stabilize the overall system using a backstepping procedure.
Author supplied keywords
Cite
CITATION STYLE
Amengonu, Y. H., Kakad, Y. P., & Isenberg, D. R. (2014). The control moment gyroscope inverted pendulum. In Advances in Intelligent Systems and Computing (Vol. 240, pp. 109–118). Springer Verlag. https://doi.org/10.1007/978-3-319-01857-7_11
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
