Modelling and Stabilisation of a Spherical Inverted Pendulum

Authors:	Liu Guangyu, the university of melbourne, Australia Nesic Dragan, the university of melbourne, Australia Mareels Iven, the university of melbourne, Australia
Topic:	2.3 Non-Linear Control Systems
Session:	Inverted Pendulum Control
Keywords:	a spherical inverted pendulum, forwarding, nonlinear controllerdesign

Abstract

We design a nonlinear control law for a four degree of freedomspherical inverted pendulum based on the forwarding technique. Wefirst explore the forwarding structure of the spherical invertedpendulum model and then find a control law to stabilize the anglevariables. Next, we develop a nested saturating controller for thewhole system. The control law is evaluated through simulations.