An improved design procedure of Lyapunov feedback control

Author

Wu, Q. ; Sekhavat, P. ; Peles, S. ; Abo-Shanab, R.F. ; Sepehri, N.

Author_Institution

Dept. of Mech. & Ind. Eng., Manitoba Univ., Winnipeg, Man., Canada

fYear

2001

fDate

2001

Firstpage

486

Lastpage

491

Abstract

An improved procedure of Lyapunov feedback control is developed. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov stability theory is used for the stability analysis of the resulting non-smooth control system. Next, the discontinuous terms in the controller are replaced with continuous functions. This weakens the stability but avoids the chattering of the controller. The trade-off in the stability is analyzed using the concept of Lyapunov exponents. We demonstrate the effectiveness of the design procedure by stabilizing a two-link base-excited inverted pendulum system around the upright position. We believe that our improved design procedure makes the Lyapunov feedback control more applicable.

Keywords

Lyapunov methods; control system synthesis; feedback; nonlinear control systems; pendulums; position control; sampled data systems; Lyapunov exponents; Lyapunov feedback control; continuous functions; discontinuous controller; extended Lyapunov stability theory; improved design procedure; nonsmooth control system; stability analysis; two-link base-excited inverted pendulum system; Control design; Control systems; Feedback control; Industrial engineering; Lyapunov method; Nonlinear systems; Performance analysis; Physics; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013249

Filename

1013249