Title :
A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems
Author :
White, Warren N. ; Foss, Mikil ; Guo, Xin
Author_Institution :
Kansas State Univ., Manhattan
Abstract :
Control of underactuated systems is treated from a Lyapunov direct method approach. The method results in a set of three matching conditions, the solution of which is easily accomplished. The method developed is capable of treating more complicated systems than that reported in an earlier publication. The suitability of the Lyapunov candidate function is demonstrated through mathematical proofs. An application of the method to the ball and beam is presented.
Keywords :
Lyapunov methods; large-scale systems; stability; ball; beam; complicated systems; direct Lyapunov approach; mathematical proofs; underactuated mechanical system stabilization; Control systems; Damping; Lagrangian functions; Linear feedback control systems; Mechanical systems; Nonlinear control systems; Nonlinear equations; Partial differential equations; Vehicle dynamics; Velocity control;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282944
