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Circular Path Following for the Spherical Pendulum on a Cart

Abstract : This paper investigates the problem of making the cart of a spherical pendulum follow a circular path with constant speed, while guaranteeing that the pendulum does not fall over. A solution methodology is presented which is hierarchical in nature. First, one of the two control inputs is used to stabilize the angle of the pendulum from the vertical axis at a constant value. The remaining control input is used to make the cart converge to the circular path with a desired speed.
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Luca Greco, Paolo Mason, Manfredi Maggiore. Circular Path Following for the Spherical Pendulum on a Cart. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.8268 - 8272, ⟨10.1016/j.ifacol.2017.08.1398⟩. ⟨hal-01648034⟩



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