Title :
Lyapunov method for the controlling of the two wheels inverted pendulum
Author :
Frías, O. Octavio Gutiérrez
Author_Institution :
Centro de Estudios Cient. y Tecnol., Inst. Politec. Nac., Mexico City, Mexico
Abstract :
In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by a suitable partial feedback linearization that allows to linearize only the actuated coordinate system, we proceed to find a function Lyapunov in conjunction with LaSalle´s invariance principle. Based on this candidate function, we derive a stabilizing controller in such a way that the closed-loop system is locally asymptotically stable around its unstable equilibrium point, with a computable domain attraction.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; feedback; linearisation techniques; nonlinear control systems; pendulums; LaSalle invariance principle; Lyapunov method; asymptotic stability; closed-loop system; domain attraction; equilibrium point; nonlinear controller; partial feedback linearization; stabilization; two-wheel inverted pendulum; Equations; Lyapunov methods; Mathematical model; Mobile robots; Robustness; Wheels; Lyapunov Method; Non-Linear Control; Two Wheels Inverted Pendulum; Underactuated System;
Conference_Titel :
Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on
Conference_Location :
Merida City
Print_ISBN :
978-1-4577-1011-7
DOI :
10.1109/ICEEE.2011.6106627
