DocumentCode
2482921
Title
Control of the Furuta Pendulum by using a Lyapunov function
Author
Aguilar-Ibañez, Carlos ; Gutierrez, O.F. ; Sossa-Azuela, Humberto
Author_Institution
Centro de Investigation en Comput. del IPN, Mexico City
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
6128
Lastpage
6132
Abstract
A Lyapunov based control approach is proposed for the stabilization of the under actuated Furuta pendulum. First, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate of the system, it proceeds to find a candidate Lyapunov function, and them, a stabilizing controller is derived from the obtained candidate function. The proposed closed-loop system is locally and asymptotically stable around the unstable vertical equilibrium rest, with a computable domain of attraction
Keywords
Lyapunov methods; asymptotic stability; closed loop systems; nonlinear control systems; Furuta pendulum control; Lyapunov function; asymptotic stability; closed-loop system; partial feedback linearization; stabilization; Actuators; Control systems; Control theory; Force control; Force feedback; Linear feedback control systems; Lyapunov method; Nonlinear control systems; State feedback; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376943
Filename
4177981
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