Stabilization of the Furuta Pendulum Based on a Lyapunov Function
| Autor: | Carlos Aguilar Ibáñez, Juan H. Sossa Azuela |
|---|---|
| Rok vydání: | 2006 |
| Předmět: |
Lyapunov function
Rest (physics) Applied Mathematics Mechanical Engineering Aerospace Engineering Ocean Engineering Vertical equilibrium Function (mathematics) Furuta pendulum Domain (mathematical analysis) symbols.namesake Computer Science::Systems and Control Control and Systems Engineering Control theory Stability theory symbols Electrical and Electronic Engineering Lyapunov redesign Mathematics |
| Zdroj: | Nonlinear Dynamics. 49:1-8 |
| ISSN: | 1573-269X 0924-090X |
| DOI: | 10.1007/s11071-006-9099-8 |
| Popis: | We propose a Lyapunov-function-based control for the stabilization of the under-actuated Furuta pendulum. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, we proceed to find a candidate Lyapunov function. Based on this candidate function, we derive a stabilizing controller, in such away that the closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction. |
| Databáze: | OpenAIRE |
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