The direct Lyapunov method for the stabilisation of the Furuta pendulum

被引：15

作者：

Aguilar-Ibanez, Carlos ^{[1
]}

Suarez-Castanon, Miguel S. ^{[2
]}

Gutierres-Frias, Oscar O. ^{[3
]}

机构：

[1] IPN, CIC, Mexico City 07738, DF, Mexico

[2] IPN, Escuela Super Comp, Mexico City 07738, DF, Mexico

[3] IPN, Ctr Estudios Cient & Tecnol 1, Mexico City 07738, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2010年 / 83卷 / 11期

关键词：

Furuta pendulum system; Lyapunov direct method; nonlinear control; SYSTEMS;

D O I：

10.1080/00207179.2010.520029

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A nonlinear controller for the stabilisation of the Furuta pendulum is presented. The control strategy is based on a partial feedback linearisation. In a first stage only the actuated coordinate of the Furuta pendulum is linearised. Then, the stabilising feedback controller is obtained by applying the Lyapunov direct method. That is, using this method we prove local asymptotic stability and demonstrate that the closed-loop system has a large region of attraction. The stability analysis is carried out by means of LaSalle's invariance principle. To assess the controller effectiveness, the results of the corresponding numerical simulations are presented.

引用

页码：2285 / 2293

页数：9

共 21 条

[1] Furuta's Pendulum: A Conservative Nonlinear Model for Theory and Practise [J].