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Geometric tracking controllers are developed for spherical single and double pendula, with almost global stability properties. The dynamics are coordinate-free, and evolve on manifolds that are products of S^2.
sir-avinash/geometric-control-of-spherical-pendula
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Geometric tracking controllers are developed for spherical single and double pendula, with almost global stability properties. The dynamics are coordinate-free, and evolve on manifolds that are products of S^2.
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