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Modeling and Control of An Under-Actuated Spherical Inverted Pendulum

Faculty #51
Discipline: Technology & Engineering
Subcategory: STEM Research

Chang Duan - Prairie View A&M University


The spherical inverted pendulum is a widely used example to test advanced control strategies and is also reasonable for rocket propelled body. The objective is to maintain the pendulum in its unstable equilibrium position in spite of disturbances. A model based design approach is adopted. A hybrid dynamical system model of the spherical inverted pendulum is first established taking the limitation of the planar forces into consideration. Then the controller is designed and verified through simulation with the model. Finally, an experiment is carried out to validate the simulation results. The study will enrich the control theory of hybrid dynamical systems and the experiment platform will be used in both teaching and research of advanced control applications.

Funder Acknowledgement(s): National Science Foundation Historically Black Colleges and Universities - Undergraduate Program (HBCU-UP)

Faculty Advisor: None Listed,

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This material is based upon work supported by the National Science Foundation (NSF) under Grant No. DUE-1930047. Any opinions, findings, interpretations, conclusions or recommendations expressed in this material are those of its authors and do not represent the views of the AAAS Board of Directors, the Council of AAAS, AAAS’ membership or the National Science Foundation.

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