HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [8 references]  Display  Hide  Download

Contributor : Luca Greco Connect in order to contact the contributor
Submitted on : Tuesday, April 28, 2020 - 10:45:50 AM
Last modification on : Tuesday, July 20, 2021 - 3:04:31 AM


Publisher files allowed on an open archive



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⟩



Record views


Files downloads