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In this paper, a dynamical equation of single rotary inverted pendulum is established, which based on Lagrange equation for the swing-up control problem of single rotary inverted pendulum. The algorithm of energy compensation control is proposed on the basis of this theory, and the experimental device based on DC servo motor during the single rotary inverted pendulum is established. The swing-up control...
In this paper, a planar guidance law accounting for second-order dynamics of missile autopilot and impact angle constraints is designed using backstepping method and nonsingular terminal sliding mode control (NTSM). Nonsingular terminal sliding mode was employed to drive the line of sight (LOS) angle to a desired impact angle in finite time without singularity. In backstepping design, some first-order...
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